Delta ASDA-A3 Series User Manual page 447

Motion Control
Rotary Axis Position command (Index Position)
You can use the Rotary Axis Position command in any PR paths (PR#1 - PR#99). The number
of PR paths is determined by the number of Rotary Axis Position commands. It is marked as
"Index Position". See Figure 7.1.4.7.
7
PR#1 (I)(O)
Index Position
DLY=[0] 0 ms
0/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Rotary Axis Position command section: a set of Rotary Axis Position commands. It shows
(1)
the total moving distance at the top using double arrows to show that the motor can run
reciprocally between each target position in each PR path.
Command execution type (property): a Rotary Axis Position command can interrupt (INS)
(2)
the previous PR path. If the Interrupt function is enabled, it displays (I); if not, no
information is displayed. The Rotary Axis Position command can overlap (OVLP) the next
PR path. Set the delay time to 0 when you use the Overlap function. If the Overlap
function is used, is displays (O); if not, no information is displayed.
Delay time (DLY): determined by shared PR parameters. It is defined by a command from
(3)
the controller. The servo drive starts counting the delay time once the motor reaches the
target position.
Position command: the numerator is the position of this PR path; the denominator is the
(4)
total moving distance of this Rotary Axis Position command, which is set by P2.052.
Rotation direction (Dir): available options are "Rotation forward (Forward)", "Rotation in
(5)
reverse (Reverse)", and "Rotation with the shortest distance (Shortest)".
Target speed: determined by shared PR parameters.
(6)
Acceleration time (ACC): determined by shared PR parameters; length of time to reach the
(7)
target speed from stopped.
Deceleration time (DEC): determined by shared PR parameters; length of time to
(8)
decelerate from target speed to stopped.
7-44
Index Position List [100000]
PR#2 (I)(O)
Index Position
DLY=[0] 0 ms
33333/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
Figure 7.1.4.7 Rotary Axis Position command (Index Position) display
PR#3 (I)(O)
Index Position
DLY=[0] 0 ms
66667/100000 PUU
Dir=[0] Forward
Speed=200 rpm
Acc=[0] 6.67 ms
Dec=[0] 6.67 ms
ASDA-A3
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)