Delta ASDA Series User Manual

Introduction of PR Operation ASDA Series Application Note
1-24 March, 2015
3. Incremental command 60000 PUU:
Target position (90000 PUU) = Previous target position (30000 PUU) + New position
command (60000 PUU)
4. Capture command 60000 PUU:
If the last value captured is 10000 PUU, target position will be 10000 PUU + 60000 PUU =
70000 PUU
Absolute
command
60000
Current
position
of motor
FB_PUU
0
60000
60000
The target
position of
current
command
Cmd_E
60000
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Current
position
of motor
FB_PUU
Relative
command
60000
Current
position
of motor
FB_PUU
Incremental
command
60000
Current
position
of motor
FB_PUU
The
position
latched by
capture
function
Capture
command
60000
Absolute command 60000
Relative command 60000
Incremental command 60000
Cap. Relative command 60000
Figure 1.30 Types of Position Command
Regarding position command, two types of setting are available. Type 2 (Single positioning
control, Motor stops when positioning is complete), the PR procedure stops when this PR
command is completed. Type 3 (Auto positioning control, Motor goes to the next path when
positioning is complete), automatically carry out the next PR command after the current one is
completed. To carry on to the next path or to stop is the only difference between these two types;
other settings are identical.

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English