Position Command In Pr Mode - Delta ASDA-B3 Series User Manual

Control Mode

6.2.2 Position command in PR mode

The PR command source is the 100 sets of internal command registers (P6.000 - P7.099). Use
DI (0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E) (POS0 - POS6 of CN1) to select one of the 100
6
sets as the Position command and then trigger the command with DI.CTRG (0x08). See the
following table for more details.
Position
command
Homing
PR#1
...
PR#50
PR#51
...
PR#99
Status of POS0 - POS6: 0 means that DI is off (the circuit is open); 1 means that DI is on (the
circuit is closed).
CTRG : this indicates the moment the DI is switched from off to on.
The absolute type and incremental type position registers are used to control the operation
process. You can easily complete a periodic motor operation according to the preceding table.
For example, if the Position command PR#1 is 10 turns and PR#2 is 20 turns, when PR#1 is
issued first and PR#2 comes second, the difference between absolute and incremental
positioning is shown in the following diagrams.
6-6
POS6 POS5 POS4
0 0 0
0 0 0
0 1 1
0 1 1
1 1 0
POS3 POS2 POS1
0 0 0
0 0 0
0 0 1
0 0 1
0 0 1
Corresponding
POS0 CTRG
parameter
P6.000
0 ↑
P6.001
P6.002
1 ↑
P6.003
...
P6.098
0 ↑
P6.099
P7.000
1 ↑
P7.001
...
P7.098
1 ↑
P7.099
ASDA-B3