Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-59
7
7.2 Application of motion control
Applications of motion control in the ASDA-A3 include high-speed position capture (Capture),
high-speed position comparing (Compare), and E-Cam. High-speed position capturing uses
digital input (DI7) to capture the motor‟s feedback position instantly and store this position in the
data array. For high-speed position comparing, it writes the specified motor position to the data
array and outputs a high-speed digital signal (DO4) once the motor feedback position reaches
this specified position. The purpose of E-Cam is to create an E-Cam curve according to the
correlation between the Master and the Slave, and then store the curve in the data array. The
Slave axis refers to the Master axis‟ position and moves to the position specified by the E-Cam.
You can find more details about the setting and how it works in the following sections.
7.2.1 Data array
The data array can store up to 800 32-bit data (0–799). You can use it to store the high-speed
capture data and high-speed compare data as well as the E-Cam curves. You have to segment
the space for these three functions as their individual spaces are not defined by default. This
prevents overwriting or accidentally changing any data. You can set P2.008 to 30 and then 35 or
use ASDA-Soft to write the data to EEPROM; otherwise, the data is not saved after you turn the
power off. ASDA-Soft includes a user-friendly screen for reading and writing the data array. See
the following figure
.
Figure 7.2.1.1 Data Array screen in ASDA-Soft