Delta ASD-A2-0121 Series User Manual page 278

Chapter 7 Motion Control
Description of command triggered method in PR mode:
64 command procedures are in each axis of PR mode. Procedure #0 is homing and the others
(#1 ~ #63) are the procedures that users can self-define. The command triggered method is
concluded as the followings:
Command Source
Standard
DI.CTRG + POS0 ~ 5
trigger
Functional
DI.STP, SHOM
trigger
Event
DI.EV1 ~ 4
trigger
Software
trigger
CAP trigger
Other
E-CAM disengage
Use DI.POS0 ~ 5 to trigger the desired procedure number.
Then, use the rising edge of DI.CTRG to trigger PR
command.
Application: PC or PLC that issues command via DI
When DI.STP is from OFF  ON, the command stops in
half way.
When DI.SHOM is from OFF  ON, it starts homing.
The status changing of DI.EV1 ~ 4 can be the triggering
event.
Set the triggered procedure number from OFF  ON by
parameter P5-98.
Set the triggered procedure number from ON  OFF by
parameter P5-99.
Application: connect to the sensor and trigger the preset
Directly write the procedure number into P5-07 and trigger
command.
Both panel and communication (RS-232/485 / CANopen)
P5-07
can do.
Application: PC or PLC that issues command via
After the capture is completed, procedure #50 can be
triggered and activated by the setting value Bit 3 of P5-39.X.
When E-cam is disengaged and returns to PR mode, the
procedure specified by P5-88 BA setting value can be
trigger
triggered.
A2-L does not support E-Cam function.
Description
procedure.
communication.
ASDA-A2
7-17