Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-65
7
PR#1 (I)
Write
DLY=[0] 0 ms
P5.039=0x2030
PR#3 (I)
Write
DLY=[0] 0 ms
P5.038=3
PR#4 (I)
Write
DLY=[0] 0 ms
P5.076=0
PR#2 (I)
Write
DLY=[0] 0 ms
P5.036=100
PR#50 (I)
Position
DLY=[0] 0 ms
50000 PUU
CAP
100rpm
PR#7 (I)
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
PR#6 (I)
Write
DLY=[0] 0 ms
P5.039=0x203B
PR#5 (I)
Write
DLY=[10] 1 ms
P1.019=0x0001
PR#51
Speed
DLY=[0] 0 ms
50 rpm
Acc=[0] 3.33 ms
Dec=[0] 3.33 ms
Figure 7.2.2.3 PR path with application of high-speed capture function
CAP axis
position
(PUU)
Time
10000 PUU
DI7: CAP
DO: [0x16]
CAP_OK
10000 PUU
PR path
#50 #50
#51 #51
#1 ~ 6
#7
Data array
0 0 0 45678 45678 45678 #100
0 12501 12501 12501 50345 50345 #101
0 0 26789 26789 26789 56789 #102
(1) (1) (2) (2)
(3) (3)
Figure 7.2.2.4 Application example for high-speed capturing function