Delta ASDA-A3 Series, User Manual

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Motion Control ASDA-A3
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7.2.3 High-speed position compare function (Compare)
The high-speed position compare function (CMP) compares the instant position feedback of the
motion axis with the value saved in the data array. When the compare condition is fulfilled, a
high-speed digital signal DO4 (with execution time of only 5 µs) is sent immediately for motion
control. As the Compare function is executed by the hardware, there is no lag in the software,
and the position compare is more accurate on high speed motion axes. While the Compare
function is enabled, the servo drive outputs a DO4 signal (DO4 is not user-defined).
As shown in Figure 7.2.3.1 Flow chart for the high-speed position compare function, P5.056
sets the start position in the data array for comparing (default is #50 in the data array). You must
write the position data to be compared to the data array before comparing. P5.058 sets the
comparing amount. The amount has to be greater than 0, otherwise the Compare function is not
executed. P5.059 enables and disables the Compare function and other settings. See the
following table for more information. Note that when the comparing source is CN2, the pulse
resolution of the comparing axis is set by P1.046 (numerator) and P1.097 (denominator) with
default values of 2500 and 0 respectively; that is, the moving distance of the comparing axis is
10000 PUU per rotation of motor. The comparing position in the data array can be shifted using
P1.023 (non-volatile) and P1.024 (volatile). You can reset P1.024 to 0 after the shift, and you
can enable this function with P1.019.Z. You can also set the Compare function in ASDA-Soft,
as shown in Figure 7.2.3.2.
P5.059 bit Function Description
X
0
Enable high-speed position
compare function
When P5.058 > 0 and bit 0 = 1, the comparing starts.
Each time a point is compared, the value of P5.058 is
decremented by 1. When P5.058 = 0, it means the
comparing is finished, and bit 0 is reset to 0. If bit 0 is
already 1, the written value must not be 1; you must write
0 to disable the Compare function.
1 Cycle mode
If bit 1 = 1, after all comparing is complete, P5.058 resets
to the setting value and then the compare procedure
starts again.
2
Enable Capture function
after data compared
If bit 2 = 1, after all comparing is complete, enable the
Capture function (P5.039.X bit 0 = 1 and set the previous
value to P5.038 as the data size to be captured). If the
Capture function is already enabled, then this bit function
is invalid.
3
Reset position for the
comparing axis to 0
If bit 3 = 1, set P5.057 to 0 once all comparing is
complete, the position for the comparing axis is reset to 0.
Y -
Source setting of
comparing axis
0: capturing axis
1: CN5
2: CN1 (pulse command)
3: CN2
When the source of Compare is the Capture axis, the source of
Capture (P5.039.Y) cannot be changed.
. If CN2 is selected as
the source, the pulse resolution is determined by P1.046
and P1.097 (Encoder pulse number output setting).
Z - Trigger logic
0: NO (normally open)
1: NC (normally closed)
U - Trigger PR path
If bit 0 = 1, PR#45 is triggered once the last data is
compared.
CBA - Pulse output duration (ms) -