Introduction Of Asda-A2 Pr Function; Data Array - Delta ASDA Series Application Notes

Introduction of PR Operation

1.1.4 Data Array

Data Array in ASDA-A2 servo drive is a continuous block of memory; it is used to save the
captured data, compared value and E-CAM tables. Data array is capable to save 800 data in
total. As size and saving destination of these data is not specified in the system, users have to
define the saving address of each datum properly so as to avoid data overlap and causing
problems of overwriting. Detail about data array is explained in Chapter 2 E-CAM of this
application note; details about how to read and write data array can also be found in ASDA-A2
user manual and ASDA-Soft user manual.

1.2 Introduction of ASDA-A2 PR Function

There are several ways to set the attributes and value settings for each of the PR's (such as
setting P6-02 and P6-03 for PR#1). The most intuitive way is to use the PR wizard in ASDA-Soft
software tool, as it uses dropdown selection boxes and pop-up wizard windows to explain each
entry choice. Another way is to simply set the parameter values directly from the parameter
editor in the ASDA-Soft software tool. A third way is to set the parameter values by
communication port from a host controller or HMI by setting/resetting PR functions for static or
dynamic use.
In PR mode, motion commands are generated in the servo drive and used to control the motor.
Commands are generated based on parameters settings and are composed of one or more
profiles. Thus, commands generated by PR can be changed by editing their corresponding
values. Including Homing mode, ASDA-A2 provides 64 profiles.
PR#0: Homing mode
PR#1 ~ PR#63 can be set as: Position Command- Position Control
ASDA-A2 also provides various types of PR triggering methods, which allow users to select
based on different applications.
Each definition and its corresponding data of PR are defined by parameter settings. Parameters
related to PR mode are included in Chapter 7, mainly in Group 6 and Group 7, in ASDA-A2 user
manual. If selecting a PR path to be edited in ASDA-Soft, the corresponding parameter of this
PR will be shown at top of the window. See Figure 1.14 for example, when selecting PR#1 to edit,
value of P6-02 and P6-03 will be displayed at top of the window. P6-02 is for defining the
attribute of PR#1, which is for determine the type of PR command and to determine if this PR is
going to execute interrupt command or to execute the next PR procedure automatically. On the
other hand, P6-03 is the value setting for the PR#1, and definition of what the setting is for
depends on the attribute setting of P6-02. For instance, if P6-02 is a speed command, P6-03 will
be defining the target speed; when P6-02 is a Jump command, P6-03 determines the jumping
1-10
Speed Command- Speed Control
Write Command- Edit Parameter Setting or Data Array
Jump Command- Edit PR Executing Procedure
ASDA Series Application Note
March, 2015