Delta ASDA-A3 Series, User Manual

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ASDA-A3 Motion Control
7-3
7
7.1 PR mode description
In PR mode, the servo drive automatically generates the motion commands. Apart from the
basic arithmetic operation commands, the ASDA-A3 saves all parameter settings in the
parameter file in the servo drive. Thus changing parameter values simultaneously changes the
PR commands. The ASDA-A3 provides 100 path setting sets, which include the homing
method, Position command, Speed command, Jump command, Write command, Index Position
command, and arithmetic operation commands.
Except for arithmetic operations, the properties and corresponding data for each PR path are
set by parameters. You can find information of all PR parameters in the descriptions of Group 6
and 7 in Chapter 8. For example, PR#1 path is defined by two parameters, P6.002 and P6.003.
P6.002 is for specifying the property of PR#1, such as the PR command type, whether to
interrupt, and whether to auto-execute the next PR. P6.003 is subject to change based on the
properties set in P6.002. If P6.002 is set to a Speed command, then P6.003 specifies the target
speed. When P6.002 is set to a Jump command, then P6.003 specifies the target PR. The
parameters for the PR#2 path are P6.004 and P6.005, and they work same way as P6.002 and
P6.003. The same is true for the rest of PR paths. See Figure 7.1.1.
PR#0
PR#1
PR#2
PR#50
PR#99
P6.000
P6.002
P6.004
P7.000
P7.098
P6.001
P6.003
P6.005
P7.001
P7.099
PR path
Setting
paramters
Path property Path data
Figure 7.1.1 Setting parameters for each PR path