Delta ASDA-A3 Series User Manual page 412

ASDA-A3
Command trigger
DI.CTRG
Command
PR position command
completed
DO.Cmd_OK
Motor reaches target
position
DO.TPOS
Servo procedure
completed
DO.MC_OK
Command trigger
DI.CTRG
Command
Cmd
PR position command
completed
DO.Cmd_OK
Motor reaches
target position
DO.TPOS
Servo procedure
completed
DO.MC_OK
Figure 7.1.2.4 Operation of DI/DO signals in PR mode (including delay time)
Before issuing
command
Cmd
Figure 7.1.2.3 Operation of DI/DO signals in PR mode
Before issuing
command
|Cmd_O(Pulse) –
Fb_Pulse| > P1.054
Command in
execution
|Cmd_O(Pulse) – Fb_Pulse| > P1.054
Command in
execution
Motor in Motor
operation positioned
Delay time
Motion Control
Execution Motor
completed positioned
Command
completed
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