Delta ASDA-M Series User Manual

ASDA-M Chapter 7 Motion Control
Revision December, 2014 7-43
 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 output. 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 DI5 for
triggering CAP/CMP procedure.
The diagram of COMPARE:
Position of
CMP axis:
(P5-57)
CMP signal:
(DO3)
1 2 3 N
Data Array
…..
POS 1
POS 2
POS 3
~
POS N
 Non-cycle mode: CMP is completed, set P5-59.X0 to 0.
 Cycle mode: Compare the 1
st
point again, the value of P5-59.X0 is 1.
Set the compared number via P5-58
The output pulse can be set via P5-59.CBA
The 1
st
p
oint is saved in P5-56.
The 2
nd
point is saved in P5-56＋1.
The 3
rd
point is saved in P5-56＋2.
 Select to activate CAPTURE function
(If Capture has been activated, it is invalid.)
The output of the last pulse is completed, it will execute:

Delta ASDA-M Series Specifications

General

Brand	Delta
Model	ASDA-M Series
Category	Servo Drives
Language	English