Delta ASDA Series

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March, 2015 1-1

Introduction of PR

Operation

1.1 System Information ............................................................................................... 1-2

1.1.1 What is System Parameter and How is it Used? .......................................... 1-2

1.1.2 Mapping Parameter ....................................................................................... 1-5

1.1.4 Data Array.................................................................................................... 1-10

1.2 Introduction of ASDA-A2 PR Function ........................................................... 1-10

1.2.1 Shared Setting List for PR ........................................................................... 1-13

1.2.2 Introduction of PR Homing .......................................................................... 1-14

1.2.2.1 Reference to Limit .............................................................................. 1-14

1.2.2.3 Reference to Z Pulse ......................................................................... 1-17

1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor .................... 1-18

1.2.2.5 Reference to Current Position ........................................................... 1-20

1.2.3 PR Speed Command .................................................................................. 1-22

1.2.4 PR Position Command ................................................................................ 1-23

1.2.5 Jump Command .......................................................................................... 1-25

1.2.6 PR Write-in Command ................................................................................ 1-25

1.2.7 PR Triggering Methods ................................................................................ 1-26

1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP .................................... 1-26

1.2.7.2 Parameter P5-07 ............................................................................... 1-26

1.2.7.3 DI.SHOM ............................................................................................ 1-27

1.2.7.4 Event Trigger...................................................................................... 1-27

1.2.7.5 Others CAPTURE Completed / COMPARE Completed / E-CAM

Disengaged ...................................................................................................... 1-29

1.3 Motion Control .................................................................................................... 1-29

1.3.1 Monitoring Variables Related to PR ............................................................ 1-29

1.3.3 Overlap of Commands ................................................................................ 1-34

1.3.4 Interrupt of Command ................................................................................. 1-35

1.4 Presentation of PR .............................................................................................. 1-39

1.5 How is PR arranged? .......................................................................................... 1-42

1.6 PR Setting Examples .......................................................................................... 1-44

Delta ASDA Series - Page 7