Compare Function - Delta ASDA-A2 Series User Manual

7.11.2 COMPARE Function

COMPARE function is designed to use the instant position of motion axis to compare with the value
which store in data array. When the compare conditions are satisfied, DO4 signal will output immediately
for motion control. Because the compare operation is controlled through external control command (via
hardware), there is no delay problem when executing control command upon software. Therefore, it is
capable of comparing the position data of high speed motion axis as well. The characteristics of
Compare function is described as follows:
Source Setting
Trigger Signal
Output Method
Data Storage Location
Compare Amount
Compare Data Format
Compare Condition
Auxiliary Function
Note
The data compared by Compare function are all stored in data array. The first compared point is stored
in data array (P5-56), the compare amount is determined by P5-58 and the last compared point is stored
in data array (P5-56+P5-58-1). When Bit0=1 (P5-59 X setting value), the Compare function is enabled
and start to compare the data of the first point. Every time when one position is compared, the pulse
signal will output one time. At this time, the setting value of P5-58 will decrease 1 automatically until the
Revision April, 2010
Chapter 7 Motion Control Function|ASDA-A2 Series
Characteristics of Compare function
Motion axis: Motor encoder
Motion axis: Auxiliary encoder (linear scale)
Motion axis: Pulse command
Motion axis: Capture axis (When the compare source is the capture axis,
the capture source setting can not be changed.)
The selected axis will be displayed by P5-57. Please set P5-57 before
executing capture operation as it only can be set when capture operation is
stopped.
It is output by DO4 and the response time is 1 usec.
Please note:
DO4 signal is used to control Compare function directly. No matter what the
setting value of P2-21 is, when DO4 is triggered, Compare function will be
enabled always. Therefore, when Compare function is used, in order to avoid
the malfunction of the commonly-used DO signals, the system will force the
commonly-used DO signals to be disabled, i.e. set P2-21=0x0100
automatically. The setting value of P2-21 will not be written into EEPROM
when power is off. After re-power the servo drive, the setting value of P2-21
will be restored to its default setting automatically.
Pulse output. A or B contact can be selectable.
It is able to compare multiple positions continuously.
The interval time of pulse output can be set also.
Data array. The starting address is set by P5-56.
The capture amount is determined by P5-58. But, the total amount can
not exceed the limit of data array.
32-bit pulse number (with polarity)
It is triggered when the position of motion axis pass through the compare
value.
Cycle mode: When the last point is compared, the system will return to
the fist point and start Compare operation again.
After the last point is compared, the system will enable Capture function
automatically.
If P5-58=0, Compare function will be disabled even if setting Bit0 of P5-
59 to 1 (P5-59 X0=1). At this time, the setting Bit0 of P5-59 will be reset
to 0 (P5-59 X0=0).
The data format of Compare axis is 32-bit data. Do not calculate the
compare data repeatedly; otherwise the overflow may occur and result in
error or invalid compare result.
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