Pr Mode Description - Delta ASDA-B3 Series User Manual

Motion Control

7.1 PR mode description

In PR mode, the servo drive automatically generates the motion commands and saves all
parameter settings in the servo drive parameter file. Thus changing parameter values
7
simultaneously changes the PR commands. The ASDA-B3 provides 100 path setting sets,
which include the homing method, Position command, Speed command, Jump command, Write
command, and Index Position command.
The property and corresponding data for each PR path are set by parameters. You can find
information of all PR parameters in the descriptions of parameter groups 6 and 7 in Chapter 8.
For example, PR#1 path is defined by two parameters, P6.002 and P6.003. P6.002 is for
specifying the property of PR#1, such as the PR command type, whether to interrupt, and
whether to auto-execute the next PR. P6.003 is subject to change based on the property set in
P6.002. If P6.002 is set to a Speed command, then P6.003 specifies the target speed. When
P6.002 is set to a Jump command, then P6.003 specifies the target PR. The parameters for the
PR#2 path are P6.004 and P6.005, and they work same way as P6.002 and P6.003. The same
is true for the rest of PR paths. See Figure 7.1.1.
7-2
Setting
PR path
paramters
PR#0
PR#1
PR#2
PR#50
PR#99
Figure 7.1.1 Setting parameters for each PR path
Path property Path data
P6.000 P6.001
P6.002 P6.003
P6.004 P6.005
P7.000 P7.001
P7.098 P7.099
ASDA-B3