Delta ASDA-B3 Series, User Manual

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ASDA-B3 Motion Control
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The detailed command behavior of each stage is illustrated in Figure 7.1.2.2. Cmd_E is the
endpoint specified by the command; it is set when the PR path is triggered. Fb_PUU is the
feedback position, which is motor’s actual position. Divide this motion command into slices and
take one of them as example. Cmd_O is the target of this cycle command and Err_PUU is the
deviation between the target position of the cycle command and the feedback position.
Cmd_O
Err_PUU
Comma nd
Fb_PUU
Position (PUU)
Time
Cmd_E
Figure 7.1.2.2 Monitoring variables status when a command is executed in PR mode
You can use digital input (DI) to call PR paths and digital output (DO) to monitor PR paths (refer
to Table 8.1 and 8.2 for the DI/O function descriptions). When you trigger the motion command
with DI.CTRG [0x08], the servo drive operates based on the command from the internal
registers. Once the execution is complete, DO.Cmd_OK [0x15] is set to on.
When the motor reaches its target position, DO.TPOS [0x05] is set to on. Then, after the PR
Position command completes and motor reaches the target position, both DO signals are on
and the servo outputs the MC_OK [0x17] signal to signify that it has completed this PR path.
The operation is as shown in Figure 7.1.2.3. If you have set a delay time in this PR and the
motor reaches the target position, then DO.TPOS [0x05] is set to on.
When the delay time is over, DO.Cmd_OK [0x15] (PR position command complete) is set to on.
After both of the above mentioned DO signals are on, the servo outputs the MC_OK [0x17]
signal to signify that it has completed this PR path, as shown in Figure 7.1.2.4.