Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-42
Revision December, 2017
7
7.1.5 Trigger methods for the PR command
There are six types of PR triggering methods. They are DI-triggered, Event-triggered,
P5.007-triggered, Capture-triggered (high-speed position capturing), Compare-triggered
(high-speed position comparing), and E-Cam-triggered. You can choose the most suitable
triggering method according to the applications and requirements.
Digital input (DI) triggering
You can choose the PR path to be executed by using the internal registers (Position command
Bit0 – Bit6) and use a command to trigger the selected PR path. Before using DI-triggering
commands, you must define the 8 sets of DI functions, which are [0x11]POS0, [0x12]POS1,
[0x13]POS2, [0x1A]POS3, [0x1B]POS4, [0x1C]POS5, [0x1E]POS6, and [0x08]CTRG (refer to
Table 8.1). You can also set this in the I/O screen of ASDA-Soft, as shown in Figure 7.1.5.1.
Figure 7.1.5.1 I/O screen in ASDA-Soft
Select the PR number to be executed based on the on / off status of DI.POS0–6 and use
DI.CTRG to trigger the specified PR path. See Figure 7.1.5.1 for an example.