Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-7
7
The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the
endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the
feedback position, which is motor‟s actual position. Divide this motion command into slices and
take one of them as example. Cmd_O is the target of this command section and Err_PUU is the
deviation between the target position and the feedback position.
Cmd_O
Err_PUU
Command
Fb_PUU
Position (PUU)
Time
Cmd_E
Figure 7.1.2.2 Monitoring variables status when executing a command in PR mode
You can use digital input (DI) and digital output (DO) to monitor PR paths. When you trigger the
motion command with DI.CTRG [0x08], the servo drive operates based on the command from
the internal registers. Once the execution is completed, DO.Cmd_OK [0x15] is set to on. When
the motor reaches its target position, DO.TPOS [0x05] is set to on. Then, after the PR Position
command completes and motor reaches the target position, both DO signals are on and the
servo outputs the MC_OK [0x17] signal to signify that it has completed this PR path. The
operation is as shown in Figure 7.1.2.3 (please refer to Table 8.2).
Before issuing
command
Command in
execution
Execution
completed
Motor
positioned
Command
trigger
DI: CTRG
Command
Cmd
PR position
command
completed
DO: Cmd_OK
Delay time
Motor reaches
target position
DO: TPOS
Servo procedure
completed
DO: MC_OK
Figure 7.1.2.3 Operation of DI/DO signals in PR mode