Rotary Axis Position Command (Index Position) - Delta ASDA-B3 Series User Manual

Motion Control

7.1.3.6 Rotary Axis Position command (Index Position)

The PR mode includes a Rotary Axis Position command, which creates a rotary axis position
system. This command positions the motor within the rotary axis position system. Unlike other
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feedback positions in global coordinate system, the Rotary Axis Position command is able to
divide the rotary axis position scale into the number of paths required by the application (see
Figure 7.1.3.6.1). When using the Rotary Axis Position command for motor operation in single
direction (or mostly in the same direction), if the motor position exceeds the range, absolute
position or position counter overflow occurs. Refer to the setting in Chapter 10.
You can start the rotary axis positioning in the Rotary Axis Position Setting Wizard (Index
Coordinates Setting Wizard) in the PR mode screen in ASDA-Soft (see Figure 7.1.3.6.2).
As shown in the example, the starting PR path is set to 1, the number of paths (path size) is set
to 8, and the total moving distance (P2.052) is 80000 PUU. When you click OK, the software
automatically writes position command 0 PUU to PR#1, 10000 PUU to PR#2, 20000 PUU to
PR#3, and so on up to PR#8. When the rotary axis position reaches 80000 PUU, it
automatically returns to 0 PUU.
In addition, you can modify the rotary axis position in each PR path as needed, as shown in
Figure 7.1.3.6.3.
 INS is an interrupt command that interrupts the previous motion command. Refer to
Section 7.1.6 for more details.
 OVLP is an overlap command that allows the next PR command to overlap the command
currently being executed when decelerating. If you use this function, setting the delay time
to 0 is suggested. Refer to Section 7.1.6 for more details.
 DIR sets the rotation direction with options of forward rotation (always runs forward),
reverse rotation (always runs backward), and the shortest distance. The movement is
illustrated in Figure 7.1.3.6.4.
 S_LOW is the speed unit with options of 0.1 r/min or 0.01 r/min.
 AUTO is a command that automatically loads and executes the next PR path when the
current PR completes.
 ACC / DEC is the acceleration / deceleration time determined by the shared PR parameters.
 SPD is the target speed determined by the shared PR parameters.
 DLY is the delay time determined by the shared PR parameters. It is defined by a
command from the controller; in other words, once the target position is reached, the servo
drive starts counting the delay time.
 Position command is the target position of each rotary axis traveling segment. Note that
the setting range must be smaller than the rotary axis position scale (P2.052).
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