Overview Of The Pr Procedure - Delta ASDA-A3 Series User Manual

ASDA-A3

7.1.4 Overview of the PR procedure

In the PR mode, there are seven types of commands. To understand how the PR procedure
works, ASDA-Soft presents the execution order and calling sequence of all PR procedures.
First, symbols and contents in the PR figure are shown. This includes five parts: number,
command execution type (property), command type, next procedure command, and command
information. See Figure 7.1.4.1.
Number: the PR number, ranging from PR#0 to PR#99 (100 sets of PR paths).
(1)
Command execution type (property): (B) execute homing when power on; (O) command
(2)
overlap; (R) write data to EEPROM; (I) command interrupt.
Command type: there are seven types of PR path commands: homing, speed, position,
(3)
writing, jumping, rotary axis positioning, and arithmetic operations. The color displayed in
this section depends on the command type.
Next procedure command: if followed by a PR command, the arrow points to the specified
(4)
PR path.
Command information: displays the details of this PR path. The displayed contents and
(5)
color depend on the information type.
The following sections illustrate each command type and its representation.
Homing methods
In the display of homing methods, PR#0 always signifies the homing procedure, which is
marked as "Homing". See Figure 7.1.4.2.
PR#1 (I)(O)
Position
DLY=[0] 0 ms
100000 PUU
INC
200rpm
Figure 7.1.4.1 PR display
PR#0 (B)
Homing
0:PLZ
Offset=0
PR#1
Speed1=100
Speed2=20
Figure 7.1.4.2 Homing methods display
(1)
(2)
(3)
(4)
(5)
(1)
(2)
(3)
(4)
(5)
(6)
Motion Control
7
7-39