Chapter 7 Motion Control Functions
7.3 Motion Axes
Motion axis is a counter within the servo drive which is used to count the data of absolute
position (32-bit integer). The available motion axes are introduced in the following table.
Axis Name Description
Read (R) /
Write (W)
Attribute
1. Motor Encoder
Axis (P5-16)
It indicates the motor absolute feedback
position and the user unit is PUU.
R
Physical
Axis
2. Auxiliary
Encoder Axis
(P5-17)
It is the pulse counts of the auxiliary encoder
(linear scale) input by CN5. The pulse type is
AB phase pulse only.
R/W
Physical
Axis
3. Pulse
Command Axis
(P5-18)
It is the pulse counts of the host (external)
controller input from CN1. The pulse type can
be defined by P1-00.
R/W
Physical
Axis
4. Capture Axis
(P5-37)
It is the motion axis which is used to enable
Capture function. The command source could
be from motor encoder axis, auxiliary encoder
axis and pulse command axis. Position offset
exists between output axis and physical axis.
After the first point is captured, the axis
position can be defined again.
R/W
Output
Axis
5. Compare Axis
(P5-57)
It is the motion axis which is used to enable
Compare function. The command source could
be from motor encoder axis, auxiliary encoder
axis, pulse command axis and Capture axis.
Position offset exists between output axis and
physical axis.
R/W
Output
Axis
6. E-Cam Master
Axis (P5-86)
It is the master axis of electronic cam. The
command source could be from auxiliary
encoder axis, pulse command axis, Capture
axis and PR command axis. Position offset
exists between output axis and physical axis.
(ASDA-A2 series L type models does not
provide this function.)
R/W
Output
Axis
7. PR Command
Axis
Command position defined by PR. R
Virtual
Axis
8. Internal Time
Axis
Internal timer. The value will increase 1 every
1msec.
R
Virtual
Axis
9. Synchronous
Capture Axis
(P5-77)
The function is similar to Capture axis (P5-37).
But, it will correct the offset value of this
synchronous axis (P5-78) when capture
operation is activated every two times.
(This function is available only in firmware
version V1.009 and later models).
R/W
Virtual
Axis
Please note:
1. Physical axis: Position value is obtained from the actual terminal signal counts.
2. Output axis: It is the axis output by the physical axis. The value will not be the same as
the source of physical axis, but the increasing value will be the same as the increasing
value of physical axis.
7-12 Revision January 2011
Call 1(800)985-6929 for Sales
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