Delta ASDA-A3 Series User Manual page 251

Motion Control
It is suggested that you use PR path programming to use the motion commands with the Capture
function. You can use Write commands to set the high-speed position Capture function, as well
as to execute motion commands once capturing is completed. See the example in Figure 7.2.2.3.
PR#1 confirms that the Capture function is disabled (P5.039.X Bit 0 = 0). PR#2 sets the start
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position of data array to #100. PR#3 sets the capturing amount to 3. PR#4 sets the capturing
axis‟ position to 0 for the first capture point. PR#5 sets the cyclic capture mode with delay time of
1 ms to ensure that the next PR path can be executed with the Capture function. PR#6 enables
the Capture function and resets the first point; and once completed, continue executing PR#50.
This selects the motor‟s encoder as the capturing axis, using „normally closed‟ contact as the
trigger logic with a trigger interval of 2 ms. PR#7 sets the Speed command to 50 rpm. PR#50
sets the capture Position command to 50000 PUU Once the command is completed, continue to
PR#51 with the Speed command setting at 50 rpm.
From Figure 7.2.2.4, you see that after DI7 is triggered, the capturing axis is reset to 0 and the
data stored in data array #100 because the Reset function for the first point is enabled, and
P5.076 is set to 0. At the moment DI7 is triggered the second and third time, the position data is
written to the data array #101 and #102. Once the first capture cycle is completed, DO:
[0x16]CAP is set to on and then PR#50 (high speed position capture command) and PR#51
(motion with fixed speed) are executed. Then, the servo drive continues executing the next cycle;
meanwhile, DO: CAP is set to off when procedure is completed and that the capturing amount is
set to 3. When DI7 is triggered for the fourth time, the capture axis‟ position is not reset; the
position data of the capturing axis is written to #100 again. Therefore, the data written in the
previous cycle is replaced. At the moment DI7 is triggered the fifth and sixth time, the position of
the capturing axis is stored in data array #101 and #102. As soon as the second capture cycle is
finished, DO: [0x16]CAP is set to on and then PR#50 (high-speed position capture command)
and PR#51 (motion with fixed speed) are executed.
When using Cyclic Capture mode (P1.019.X = 1), the Reset function is only valid for the first
cycle. Executing the PR path is valid for every cycle; in other words, every time a cycle ends,
PR#50 is executed. The first position data captured in every cycle is written to the data array set
by P5.036, and then the other data is written in sequence. So, position data written in the
previous cycle is always replaced by the position data of the next cycle.
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ASDA-A3
Revision December, 2017