Delta ASDA-A3 Series User Manual page 429

Motion Control
7
There are four types of position commands for the PR mode. You can choose the position
command according to the application requirements. The functions of each type are described
in the following examples. Note that the condition in these examples is that a position command
is still being executed and another type of command is inserted. To see the definition of each
command and how the position commands are combined, refer to Figure 7.1.3.3.3.
Absolute position command (ABS): when ABS command is executed, the target position
1.
value equals the absolute command value. In the following example, an ABS command
with the value of 60000 PUU is inserted in the previous PR path with setting target position
of 60000 PUU on the coordinate axis.
Relative position command (REL): when REL command is executed, the target position
2.
value is the motor's current position value plus the position command value. In the
following example, a REL command with the value of 60000 PUU is inserted in the
previous PR path. The target position is the motor's current position (20000 PUU) plus the
relative position command (60000 PUU), which equals 80000 PUU on the coordinate axis.
The target position specified by the original command is omitted.
Incremental command (INC): when INC command is executed, the target position is the
3.
previous target position value plus the current position command value. In the following
example, an INC command with the value of 60000 PUU is inserted in the previous PR
path. The target position is the previous target position value (30000 PUU) plus the relative
position command (60000 PUU), which equals 90000 PUU on the coordinate axis. The
target position specified by the previous command is combined to define the new one.
High-speed position capturing command (CAP): when CAP command is executed, the
4.
target position is the last position acquired by the Capture function plus the position
command value. Refer to Section 7.2.2 for more on the high-speed position capturing
function. In the following example, a high-speed capturing command with the value of
60000 PUU is inserted in the previous PR path. The target position is the captured position
value (10000 PUU) plus the relative command (60000 PUU), which equals 70000 PUU on
the coordinate axis. The target position specified by the original command is omitted.
7-26
Speed
Target speed
Acceleration time
Figure 7.1.3.3.2 Parameters for PR mode position setting
Position
command
Deceleration time
Delay time
Time
ASDA-A3