Delta ASDA-A3 Series User Manual page 477

Motion Control
It is suggested that you use PR path programming to use motion commands with the Compare
function. You can use Write commands to edit the contents of the data array and set the
high-speed position Compare function, as well as executing the motion command. As shown in
Figure 7.2.3.3, you set the numerator (P1.046) and denominator (P1.097) for the encoder's
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pulse output (the default is based on the comparing axis running 10000 pulses per motor
revolution). PR#1 - 3 use Write commands to edit data array #50 - 52. PR#4 confirms that the
Compare function is disabled (P5.059.X Bit 0 = 0). PR#5 sets the start position to #50. PR#6
sets the comparing amount to 3. PR#7 resets the compare axis position to 0 and sets a delay of
1 ms to ensure that the next PR path with the Compare function can be executed. PR#8
enables the Compare function in Cycle mode which resets the comparing axis to 0 after the
comparison is complete, and executes PR#45. It selects CN2 as the capturing axis source,
setting 'normally closed' as the trigger logic with pulse output duration of 100 ms. PR#9 sets the
Speed command to 50 rpm. PR#45 sets the Incremental command to 50000 PUU and then
PR#46 keeps the Speed command setting at 50 rpm.
From Figure 7.2.3.4, you see that when the comparing axis runs to 20000 PUU, it is identical to
the contents of data array #50 and the first DO4 is set to on. When the comparing axis runs to
30000 PUU, it is identical to the contents of data array #51 and the second DO4 is set to on.
When the comparing axis runs to 40000 PUU, it is identical to the contents of data array #52
and the third DO4 is set to on. Once the first cycle completes, the comparing axis resets to 0
and executes PR#45 (Incremental command 50000 PUU), which is equivalent to a half turn of
the motor. Therefore, the comparing axis outputs 5000 PUU, and after the position command
completes, it executes the Speed command. Then the next comparing cycle starts. This is the
same as the first cycle, and the comparing axis outputs DO4 signal at 20000, 30000, and
40000 PUU respectively and then it resets to 0 and executes PR#45.
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ASDA-A3