Delta ASD-A2-0121 Series User Manual page 298

Chapter 7 Motion Control
Compare Number
Compare Format
Compare Condition
Auxiliary Selection
Note
The value of COMPARE is saved in data array and the first compare data locates in P5-56. The
CMP number has no limit, thus it can be set via P5-58. The last CMP data is saved in P5-56 +
P5-58 - 1. Set the value of P5-59.X, Bit0 to 1 so as to activate CMP function and start to compare
the first data of data array. Every time when a position saved in data array is compared, the
compare DO will be outputted. Then, the value of P5-58 will decrease one automatically and
compare the next value until the CMP number reaches the setting value (P5-58 = 0). When the
CMP procedure is completed, the setting value of P5-59.X, Bit0 will be cleared to 0.
When comparing to the last point, it can select if it returns to the first data for comparing. This is
called cycle mode. Or it can activate CAPTURE function and wait DI7 for triggering CAP/CMP
procedure.
The diagram of COMPARE:
Compare axis
(P5-57)
Compare signal
(DO4)
COMPARE Features
It is set via P5-58 and will not exceed the limit of data array.

32-bit (It has positive and negative signs.)

It will be triggered when the source of compare axis pass

through the compare value. (The values can be from great to
small or vice versa.)
Cycle mode: When comparing to the last point, it automatically

returns to the first point and starts to compare.
When the last compare is completed, the CAPTURE function is

activated automatically.
If P5-58 is set to 0, set the value of P5-59 X, Bit0 to1 will be

unable to compare. Set the value of P5-59 X, Bit0 to 0.
Since the capture axis is 32-bit wide, the accumulation will

cause overflow. Please avoid this.
1
2 3
Set the compared number via P5-58.
Output pulse can be set in P5-59.CBA.
· Enable CAP function. (It is invalid if
CAP function is enabled already.)
After the last pulse outputs completely:
· Non-cycle mode: CMP is complete, set
P5-59.X0 to 0.
· Cycle mode: Compare the 1
again; the value of P5-59.X0 is 1.
The first point is saved in P5-56
The second point is saved in P5-56 + 1
The third point is saved in P5-56 + 2
N
st
point
ASDA-A2
Data Array
......
POS 1
POS 2
POS 3
~
POS N
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