Delta ASDA Series User Manual

ASDA Series Application Note Introduction of PR Operation
March, 2015 1-39
1.4 Presentation of PR
This section explains how PR functions are presented. With the presentation format shown here,
the whole PR procedure can be understood more easily. In this document, this format will
continue be used to illustrate the PR profile. See Figure 1.52, PR profile can be presented with
following ways.
1. If this PR command is completed and the PR profile is then completed without moving
to the next PR (without Auto), information of this PR is presented with a rectangle frame.
If the PR is with Auto function, which means it will be carrying out the next PR, this PR
will be presented in an arrow-shaped frame, pointing to the next PR. This format is
adapted to all presentation of PR functions. However, Jump function can only be
presented in an arrow-shaped frame because the PR specified in the Jump command
will definitely be executed.
2. The presentation is consisted of 5 parts. See Figure 1.52 for the description of each
part.
Part (1) The number of PR.
Part (2) This part shows whether this PR command has interrupt function. If yes, label
(I) is presented here; If not, this part will be blank.
Part (3) This part shows functions of this PR command, which are mainly homing
(Home), speed control (Speed), position control (Position), write-in (Write), and
jump (Jump).
Part (4) Information in this part varies with PR functions. Details will be explained based
on each mode in the following content.
Part (5) Information in this part varies with PR functions. Details will be explained based
on each mode in the following content.
Figure 1.52 Presentation of PR
3. Homing mode: As shown in Figure 1.53, interrupt function is not available in this mode.
Thus, label shown in Part (2) mentioned in Figure 1.52 is not required here. In this
mode, “Home” is shown in Part (3); Part (4) is for specifying offset value on the
coordinates, which is the value set by P6-01. Part (5) shows the PR command that
being automatically called after homing is completed. If it stops after homing is
completed and without moving to the next PR automatically, PR#0 is marked here.

Delta ASDA Series Specifications

General

Control Modes	Position, Speed, Torque
Communication Interface	RS-485, CANopen, Modbus
Feedback	Incremental encoder, Absolute encoder
Protection	Overvoltage, Undervoltage, Overcurrent, Overtemperature
Power Supply	Single-phase or three-phase AC
Output Power	50W to 15kW (depending on the specific model within the series)