ASDA-M Chapter 7 Motion Control
Revision December, 2014 7-15
4. Feedback register (monitor variable000): Fb_PUU; it shows the absolute feedback
position of the motor.
5. Deviation register (monitor variable002): Err_PUU; it is the deviation between the
register from command output and feedback register.
6. In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU =
Cmd_O - Fb_PUU.
Influence brought by position command:
Type of
Command
When issuing the
command ＝＞
＝＞When command
is executing＝＞
＝＞ Command is
completed
Absolute
Positioning
Command
Cmd_E = command data
(absolute)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E does not
change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Incremental
Positioning
Command
Cmd_E+= command data
(incremental)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E does not
change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Issue the
command of
DI：STP to
stop the
command
anytime
Cmd_E does not change.
Cmd_O continuously
output
DO.CMD_OK is
unchangeable
Cmd_E does not
change.
Cmd_O stops
according to the
deceleration curve
Cmd_E does not
change.
Cmd_O = position after
stop
DO.CMD_OK is ON
Homing
Command
Cmd_E does not change.
Cmd_O does not change.
DO.CMD_OK is OFF
DO.HOME is OFF
Cmd_E continuously
output
Cmd_O continuously
output
...
...
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
Speed
Command
Cmd_E continuously output.
Cmd_O continuously output. When the speed command is completed, it
means the speed reaches the setting value and does not stop.
DO.CMD_OK is OFF
Enter PR (Servo Off->On or switch the mode
and enter into PR mode)
Cmd_O = Cmd_E = current feedback
position
Note: The incremental positioning command is accumulated by command termination
Cmd_E. It is neither related to the current position of the motor nor the command
time.
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