Delta ASDA-A2 Series User Manual

ASDA-A2 Chapter 7 Motion Control
7-36 Revision February, 2017
The diagram of CAP:
7.11.2 Function Description of COMPARE (Data Compare)
The concept of COMPARE is to compare the instant position of motion axis with the value which
is saved in data array. Then output DO3 after the COMPARE condition is established for motion
control. Since COMPARE is finished by hardware, there is no problem of software delay. It also
can accurately compare the high-speed motion axis. The COMPARE features provided by this
servo drive is as follows.
COMPARE Features
Pulse Source
 Main Encoder of the Motor
 Auxiliary Encoder (linear scale)
 Pulse Command
 CAP Axis (set by CAPTURE). When selecting this axis, CAP
source cannot be changed.
The selected axis is displayed in P5-57. Before compare, the
default value can be written in.
Output Signal
 Output by DO4 and the response time is 5 usec.
Note: DO3 directly connects to COMPARE hardware, thus,
regardless the setting value of P2-20 (DO Code), the function
can work. When using COMPARE, in order to avoid DO error,
the system will force to disable DO function, which means the
setting will be P2-21 = 0x0100 automatically. Since the value
is not written into EEPROM, P2-21 will return to the default
value after re-power on.
Output Method
 Pulse output can select contact A/B.
 It is capable to continuously output more than one point.
 It can set the pulse output time.

Delta ASDA-A2 Series Specifications

General

Enclosure Rating	IP20
Control Mode	Position, Speed, Torque
Communication Interface	RS-485, CANopen
Protection	Overcurrent, Overvoltage, Undervoltage, Overload, Overtemperature, Encoder error
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Humidity	20% to 90% RH (non-condensing)
Altitude	1000m max
Cooling Method	Natural cooling or forced air cooling
Encoder Feedback	20-bit incremental encoder (standard), 17-bit absolute encoder (optional)