Chapter 7 Motion Control Functions
3. Virtual axis: It is the axis generated by the servo firmware, e.g. PR command axis. It is
unable to command in real time so it could not be regarded as the command axis for
Capture and Compare function. But it could be regarded as the command source of the
master axis of electronic cam.
7.4 PR Mode
PR mode could be composed of one position command or multiple position commands, and
triggered by DI signal, CTRG. DI signals, POS0 ~ POS5 are used to specify the desired trigger
position.
In PR mode, electronic cam (E-Cam) is provided. Users can enable electronic cam function by
PRs (Position Registers). After the electronic cam is disengaged, the system can command the
motor to return to the specified position as well. The PR cannot be interpreted as “Point to
Point” control. It does beyond that. The servo is capable to change its working profile under
PR mode instantaneously. There are 64 PRs available.
7.5 Comparison
Old PR mode PR Mode of ASDA-A2
Position
settings
8 position settings 64 position registers (64PRs)
Command Type Position command
Homing mode, constant speed mode,
position control mode, jump mode,
write parameter mode are available.
Parameters for
Position
Commands
Either Absolute command
or Incremental command
Accel / Decel time x 1
Motion speed x 8
Delay time x 8
Absolute command / Incremental
command can be set individually.
Accel / Decel time x 16
Motion speed x 16
Delay time x 16
Command
Trigger Timing
It is enabled when DO signal,
ZSPD is On.
It can be enabled at any time. Users can
specify the command connection
method (sequential command /
insertion command / overlap
command).
Trigger Method
DI signals: CTRG + POSn
(n: number)
DI signals: CTRG + POSn
(n: number)
Event trigger function: DI signals
EV1 ~ 4 + CAP_OK
P5-07 (Trigger Position Command)
Position
Command
Profile
Accel / Decel S-curve
(When S-curve function (P1-36)
is disabled, the acceleration
and deceleration function are
also disable.)
Accel / Decel S-curve
(When S-curve function (P1-36) is
disabled, the acceleration and
deceleration function can be enabled
still.)
Format
Rotation or Pulse 32-bit data (user unit)
Revision January 2011 7-13
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Call 1(800)985-6929 for Sales
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