Delta ASD-A3-0121, User Manual

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ASDA-A3 Operation Mode
Revision December, 2017
6-5
6
6.2.2 Position command in PR mode
You select the PR command source with (P6.000, P6.001) – (P7.098, P7.099), which are the 99
built-in command registers. Then, you trigger the Position command with DI.CTRG (0x08). See
the following table for more detail.
Position
command
POS6 POS5 POS4 POS3 POS2 POS1 POS0 CTRG
Setting
parameter
Homing 0 0 0 0 0 0 0 ↑
P6.000
P6.001
P1 0 0 0 0 0 0 1 ↑
P6.002
P6.003
~ ~
P50 0 1 1 0 0 1 0 ↑
P6.098
P6.099
P51 0 1 1 0 0 1 1 ↑
P7.000
P7.001
~ ~
P99 1 1 0 0 0 1 1 ↑
P7.098
P7.099
State of POS0 – POS6: 0 signifies that DI is off; 1 signifies that DI is on.
CTRG : this signifies the moment that DI is switched from off to on.
There are many applications for both absolute type and incremental type registers. For example,
assume the Position command P1 is 10 turns and P2 is 20 turns. P1 is issued first and P2 comes
second. The following diagram shows the difference between absolute and incremental
positioning.
Absolute type
10 turns
20 turns
Incremental type
10 turns
20 turns
6.2.3 Control structure of Position mode
The basic control structure is shown in the following flow chart:
Position command
Motor Speed loop Current loop
Position control
unit
Position
command
processing unit