Chapter 7 Motion Control Functions
Old PR mode PR Mode of ASDA-A2
Homing
Function
Execute homing function
automatically when power
is applied to the servo
drive (Servo On at the first
time)
DI signal, SHOM
Execute homing function
automatically when power is
applied to the servo drive (Servo On
at the first time)
DI signal, SHOM
When PR path is set to 0, it is
homing mode. Users also can use
DI signal, CTRG to trigger PR path
0.
After homing operation is
completed, it can execute the
specified PR path.
Software Limit
Function
This function is not provided. This function is provided.
7.6 Pulse of User Unit
The position command unit of PR mode is presented by PUU (Pulse of User Unit). It also
indicates the ratio of position command unit of host (external) controller to internal position
command unit of servo drive, i.e. electronic gear ratio of servo drive.
The PUU is a unit which is scaled by the electronic gear. This will bring out an advantage, and
that is “YOU SEE WHAT YOU COMMAND”. For example, if you send 10000 PUU for command
and you can read from the feedback 10000 PUU and ignore the electronic gear ratio.
1） Position command unit of servo drive (pulse): encoder unit, 1280000pulses per
revolution (pulse/rev).
2） User unit (PUU): unit of host (external) controller. If the pulse number per revolution is
P pulses (PUU/rev), then the electronic gear ratio should be set to:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P
7.7 Position Registers
1） The unit of position register of PR mode: They are indicates as user unit, PUU.
2） Cmd_E (Monitoring Variable 064): The target position of command.
3） Cmd_O (Monitoring Variable 001): The intermediate command
4） Fb_PUU (Monitoring Variable 000): The current (feedback) position of motor.
5） Err_PUU (Monitoring Variable 002): The position error = (Cmd_O – Fb_PUU).
6） In PR mode, at any time (no matter during operation or at stop):
Err_PUU = Cmd_O - Fb_PUU.
7-14 Revision January 2011
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Call 1(800)985-6929 for Sales
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