Delta ASDA-A3 Series User Manual page 210

ASDA-A3
There are four types of position commands for the PR mode. You can choose the position
command according to the application requirements. The functions of each type are described in
the examples below. Please note that the condition in these examples is that a position
command is still being executed and another type of command is inserted. To see how the
position commands are combined, please see Figure 7.1.3.8.
1. Absolute position command (ABS): when executed, the target position value equals the
absolute command value. In the figure, an ABS command with the value of 60000 PUU is
inserted in the previous PR path with setting target position of 60000 PUU on the
coordinate axis.
2. Relative position command (REL): when executed, the target position value is the motor‟s
current position value plus the position command value. In the figure, a REL command with
the value on 60000 PUU is inserted in the previous PR path. The target position is the
motor‟s current position (20000 PUU) plus the relative position command (60000 PUU),
which equals 80000 PUU in the coordinate system. The target position specified by the
original command is omitted.
3. Incremental command (INC): when executed, the target position is the previous target
position value plus the current position command value. In the example below, an INC
command with the value of 60000 PUU is inserted in the previous PR path. The target
position is the previous target position value 30000 PUU plus the relative position
command 60000 PUU, which equals 90000 PUU. The previous destination specified by the
previous command is combined to define the new one.
4. High-speed position capturing command (CAP): when executed, the target position is the
last position acquired by the Capture function plus the position command value. Please
refer to Section 7.2.2 for more on the high-speed position capturing function. In the
following example, a high-speed capturing command with the value of 60000 PUU is
inserted in the previous PR path. The target position value is the captured position value of
10000 PUU plus the relative command of 60000 PUU, which equals 70000 PUU. The
target position specified by the original command is omitted.
Revision December, 2017
Motion Control
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