Chapter 7 Motion Control Functions
Characteristics of Compare function
Trigger Signal
It is output by DO4 and the response time is 1 usec.
Please note:
DO4 signal is a physical signal used to control Compare function
directly. No matter what the setting value of P2-21 is, when DO4 is
triggered, Compare function will be enabled always. After Compare
function is enabled, in order to avoid the malfunction of the other
DO signals, the system will force the other DO signals to be
disabled, i.e. set P2-21=0x0100 automatically. Please note that the
setting value of P2-21 will not be written into EEPROM when power
is off. After re-power the servo drive, the setting value of P2-21 will
be restored to its default setting automatically.
Output Method
Pulse output. A or B contact can be selectable.
It is able to compare multiple positions continuously.
The output pulse width can be set also.
Data Storage
Location
Data array. The starting point is set in P5-56.
Amount
The amount is determined by P5-58. But, the total amount can
not exceed the limit of data array.
Data Format
32-bit pulse number (with polarity)
Compare
Condition
It is triggered when the position of source axis pass through
the compare value.
Auxiliary
Function
Continuous Mode: When the last point is compared, the servo
system will return to the fist point and start Compare operation
again.
After the last point is compared, the servo system will enable
Capture function automatically.
Remark
If P5-58=0 and Bit0 of P5-59 is set to 1 (P5-59 X0=1), Compare
function will be disabled. At this time, Bit0 of P5-59 will be
reset to 0 (P5-59 X0=0).
The data format of Compare axis is 32-bit data. Do not
calculate the compare data repeatedly; otherwise the overflow
may occur and result in error or invalid result.
The data compared by Compare function are all stored in data array. The first compared
point is stored in data array (P5-56), the compare amount is determined by P5-58 and
the last compared point is stored in data array (P5-56+P5-58-1). When Bit0=1 (P5-59 X
setting value), the Compare function is enabled and start to compare the data of the
first point. Every time when one position is compared, the pulse signal will output one
time. At this time, the setting value of P5-58 will decrease 1 automatically until the
compare amount is reached, i.e. the setting value of P5-58 becomes 0. When compare
function has finished, the value of Bit0 (P5-59 X setting value) will be reset to 0
automatically.
When the last point is compared, users can choose to compare from the first point
again and again, and it is called “Continuous Mode”. Or users can choose to enable
Capture function automatically after the last point is compared.
Revision January 2011 7-41
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Call 1(800)985-6929 for Sales
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