Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-28
Revision December, 2017
7
3. C: SOUR_DEST: data source and data format to be written.
4. Z, U, A: DESTINATION: destination
5. SOURCE: data source setting
Index Position command
PR mode includes an Index Position command, which creates an index coordinate system. This
command positions the motor within the indexing coordinates. Unlike other feedback positions in
global coordinate system, index positioning is able to divide the total moving distance of one
index into the number of paths required by the application (see Figure 7.1.3.12). Please refer to
Chapter 10 for absolute position or if position counter overflows occur due to index positioning
command. You can start the index positioning in the Index Coordinates Setting Wizard in the
PR screen in ASDA-Soft (see Figure 7.1.3.13). As shown in the example, the start PR path is set
to 1, the path number is set to 8, and total moving distance is 80000 PUU. When you click OK ,
the software automatically writes position command 0 PUU to PR#01, 10000 PUU to PR#02,
20000 PUU to PR#03, and so on up to PR#08. When the index position reaches 80000 PUU, it
automatically returns to 0 PUU. In addition, you can modify the index position in each PR path as
needed, as shown in Figure 7.1.3.14. INS stands for the interrupt command that interrupts the
previous motion command (see Section 7.1.6.). OVLP stands for the overlap command that
allows the next PR command to overlap the current one during deceleration. If you use OVLP,
BIT
3 2 1 0 Description
Command
type
SOUR - DEST Data source Writing target
Data
content
0 0
0
0 Constant Parameter
0 1 0 Parameter Parameter
1 0 0 Data array Parameter
1 1 0 Monitoring variable Parameter
0 0 1 Constant Data array
0 1 1 Parameter Data array
1 0 1 Data array Data array
1 1 1 Monitoring variable Data array
A U Z
Target: Parameter Parameter group Parameter number
Target: Data array Data array number
D C B A U Z Y X
Data source:
Constant
Constant data
Data source:
Parameter
-
Parameter
group
Parameter
number
Data source:
Data array
- Data array number
Data source:
Monitoring variable
-
Monitoring
variable number