Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-37
Data Storage Position
Data array. The start address is set by P5-56.
Compare Number
It is set via P5-58 and will not exceed the limit of data array.
Compare Format
32-bit (It has positive and negative.)
Compare Condition
It will be triggered when the source of compare axis pass
through the compare value.
Auxiliary Selection
Cycle mode: When comparing to the last point, it automatically
returns to the first point and starts to compare.
When the last compare is completed, the CAPTURE function is
activated automatically.
Note
If P5-58 is set to 0, set the value of P5-59 X, Bit0 to1 will be
unable to compare. Set the value of P5-59 X, Bit0 to 0.
Since the capture axis is 32-bit wide, the accumulation will
cause overflow. Please avoid this.
The value of COMPARE is saved in data array and the first compare data locates in P5-56. The
CMP number has no limit, thus it can be set via P5-58. The last CMP data is saved in P5-56 +
P5-58 - 1. Set the value of P5-59 X, Bit0 to 1 so as to activate CMP function and start to compare
the first data of data array. Every time when a position saved in data array is compared, the
compare DO will be outputted. Then, the value of P5-58 will decrease one automatically and
compare the next value until the CMP number reaches the setting value (P5-58 = 0). When the
CMP procedure is completed, the setting value of P5-59 X, Bit0 will be cleared to 0.
When comparing to the last point, it can select if it returns to the first data for comparing. This is
called cycle mode. Or it can activate CAPTURE function and wait DI7 for triggering CAP/CMP
procedure.
The diagram of COMPARE:
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