Delta ASDA-A3 Series User Manual page 411

Motion Control
The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the
endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the
feedback position, which is motor's actual position. Divide this motion command into slices and
take one of them as example. Cmd_O is the target of this cycle command and Err_PUU is the
7
deviation between the target position of the cycle command and the feedback position.
Figure 7.1.2.2 Monitoring variables status when a command is executed in PR mode
You can use the digital input (DI) to call and the digital output (DO) to monitor PR paths (refer to
Table 8.1 and 8.2 for DI/O function descriptions). When you trigger the motion command with
DI.CTRG [0x08], the servo operates based on the command from the internal registers. Once
the execution is complete, DO.Cmd_OK [0x15] (PR Position command complete) is set to on.
When the position deviation (pulse number) becomes smaller than the value of P1.054,
DO.TPOS [0x05] (Motor reaches the target position) is set to on. Then, both DO signals are on
and the servo outputs the MC_OK [0x17] signal to signify that it has completed this PR path.
The operation is as shown in Figure 7.1.2.3. If you have set a delay time in this PR and the
position deviation (pulse number) is smaller than the value of P1.054, DO.TPOS [0x05] is set to
on.
When the delay time is over, DO.Cmd_OK [0x15] (PR position command complete) is set to on.
After both DO.TPOS and DO.Cmd_OK are on, DO.MC_OK [0x17] (Servo procedure complete)
is set to on to signify it has completed this PR path, as shown in Figure 7.1.2.4.
7-8
Position (PUU)
Cmd_E
Cmd_O
Err_PUU
Fb_PUU
ASDA-A3
Time