Delta ASD-A2-7543 Series - Description of PR Mode; The Difference between General PR Mode and the One in ASDA-A2

ASDA-A2 Chapter 7 Motion Control
7-12 Revision February, 2017
7.4 Description of PR Mode
PR Procedure: It is the smallest unit of command. Command could be one or many procedures to
constitute.
Procedure is triggered by DI.CTRG. POS0~POS5 is used to specify the triggered procedure
number.
The triggered procedure is completed and will trigger the next one automatically. The procedure
number can be set and the delay time between procedures as well.
The E-Cam function is provided in PR mode. It can be enabled via PR procedure. After it is
disabled, it can return to the specified PR procedure.
7.5 The Difference between General PR Mode and the One in ASDA-A2
General PR Mode PR Mode in A2R
Command
Number
8 64
Command Type Positioning Command
Positioning／Constant speed Command
PR jump, write in parameters
Position
Command
Parameter
 Absolute or incremental
 Acceleration/Deceleration
time x 1 set
 Motion speed x 8 sets
 Delay time x 8 sets
 Absolute / incremental can be set
individually
 Acceleration/Deceleration time x 16
sets
 Motion speed x 16 sets
 Delay time x 16 sets
Command
Triggering Time
It has to wait until DO.ZSPD is
ON
Anytime will do. It could specify the next
command issuing method (in sequence /
interrupt / overlap)
Command
Triggering
Method
 Use DI.CTRG + POSn
 Use DI.CTRG + POSn
 Event trigger: DI.Event＋CAP
complete
 P5-07, fill in PR number to trigger.
Position
Command
PROFILE
 Trapezoid curve with S-
curve filter
(If S-curve is not enabled, then it
has no function of acceleration /
deceleration)
 Trapezoid curve with S-curve filter
(Trapezoid curve and S-curve can
be set individually.
Format of
Position
Command
 Two register for turns and
pulse within one turn
respectively.
 PUU (32bit)
Homing
Function
 The function is enabled
automatically when the
power is On. (Servo ON for
the first time)
 Use DI.SHOM to trigger
 The function is enabled
automatically when the power is On.
(Servo ON for the first time)
 Use DI.SHOM to trigger
 PR 0 = Homing
 After homing is completed, the
specified PR will be executed
automatically.
Software limit
protection
No Yes