Chapter 7 Motion Control
ASDA-A2R Series
Revision December, 2014
7-17
Description of command triggered method in PR mode:
64 command procedures are in each axis of PR mode. Procedure #0 is homing and the
others (#1~#63) are the procedures that users can self-define. The command triggered
method is concluded as the followings:
Command Source
Description
Standard
trigger
DI.CTRG + POS0 ~ 5
Use DI.POS0 ~ 5 to trigger the desired procedure
number. Then, use the rising edge of DI.CTRG to
trigger PR command.
Application: PC or PLC that issues command via DI
Functional
trigger
DI.STP, SHM
When DI.STP is from OFF
ON, the command
stops in half way.
When DI.SHM is from OFF
ON, it starts homing.
Event
trigger
DI.EV1~4
The change status of DI.EV1 ~ 4 can be the triggered
event.
Set the triggered procedure number from OFF
ON
by parameter P5-98.
Set the triggered procedure number from ON
OFF
by parameter P5-99.
Application: connect to the sensor and trigger the
preset procedure.
Software
trigger
P5-07
Directly write the procedure number into P5-07 and
trigger command.
Both panel and communication (RS-232/485
／
CANopen) can do.
Application: PC or PLC that issues command via
communication.
Other CAP
trigger
E-CAM disengage
trigger
After the capture is completed, procedure #50 can be
triggered and activated by the setting value Bit3 of
P5-39 X.
When E-cam is disengaged and returns to PR mode,
the procedure specified by P5-88 BA setting value
can be triggered.
