Motion Control - Delta ASDA-B3 Series User Manual

Motion Control

This chapter introduces internal motion commands of the servo drive in PR mode. In
this mode, commands are generated based on the internal command of the servo
drive. Various motion commands are available, including Homing, Speed, Position,
Jump, Write, and high-speed position capture (Capture). This chapter contains detailed
description of each command type.
7.1 PR mode description ··········································································· 7-2
7.1.1 Shared PR parameters ·································································· 7-4
7.1.2 Monitoring variables of PR mode ······················································ 7-6
7.1.3 Motion Control commands ······························································ 7-9
7.1.3.1 Homing methods ···································································· 7-9
7.1.3.2 Speed command ·································································· 7-22
7.1.3.3 Position command ································································ 7-24
7.1.3.4 Jump command ··································································· 7-28
7.1.3.5 Write command ··································································· 7-30
7.1.3.6 Rotary Axis Position command (Index Position) ·························· 7-32
7.1.4 Overview of the PR procedure ······················································· 7-36
7.1.5 Trigger methods for the PR command ············································· 7-42
7.1.6 PR procedure execution flow ························································· 7-46
7.2 Application of motion control ······························································· 7-58
7.2.1 Data array ················································································· 7-58
7.2.2 High-speed position capture function (Capture) ································· 7-62
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