Description Of Pr Mode; The Difference Between General Pr Mode And The One In Asda-A2R - Delta ASD-A2R-0221 Series User Manual

7.4 Description of PR Mode

PR Procedure: It is the smallest unit of command. Command could be one or many
procedures to constitute.
Procedure is triggered by DI.CTRG. POS0~POS5 is used to specify the triggered
procedure number.
The triggered procedure is completed and will trigger the next one automatically. The
procedure number can be set and the delay time between procedures as well.
The E-Cam function is provided in PR mode. It can be enabled via PR procedure. After it is
disabled, it can return to the specified PR procedure.
7.5 The Difference between General PR Mode and the One in
ASDA-A2R
Command
Number
Command Positioning Command
Type

Position

Command
Parameter


Command It has to wait until DO.ZSPD is
Triggering Time ON

Command
Triggering
Method

Position
Command
PROFILE
(If S-curve is not enabled, then
it has no function of
acceleration / deceleration)

Format of
Position
Command

Homing
Function

Revision December, 2014
General PR Mode
8
Absolute or incremental
Acceleration/Deceleration
time x 1 set
Motion speed x 8 sets
Delay time x 8 sets
Use DI.CTRG + POSn
Trapezoid curve with
S-curve filter
Two register for turns and
pulse within one turn
respectively.
The function is enabled
automatically when the
power is On. (Servo ON
for the first time)
Use DI.SHOM to trigger
Chapter 7 Motion Control ASDA-A2R Series
PR Mode in A2R
Positioning ／ Constant speed
Command
PR jump, write in parameters

Absolute / incremental can be set
individually

Acceleration/Deceleration time x
16 sets

Motion speed x 16 sets

Delay time
Anytime will do. It could specify the
next command issuing method (in
sequence / interrupt / overlap)

Use DI.CTRG + POSn
Event trigger: DI.Event ＋ CAP

complete

P5-07, fill in PR number to
trigger.

Trapezoid curve with S-curve
filter
(Trapezoid curve and S-curve
can be set individually.

PUU (32bit)

The function is enabled
automatically when the power is
On. (Servo ON for the first time)

Use DI.SHOM to trigger

PR 0 = Homing

After homing is completed, the
specified PR will be executed
64
x 16 sets
7-13