Delta ASDA-B3 Series, User Manual

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ASDA-B3 Motion Control
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7
Index Position command
You can use the Index Position command in any PR paths (PR#1 - PR#99). The number of PR
paths is determined by the index number. It is marked as “Index Position”. See Figure 7.1.4.7.
PR#2 (I)(O)
Index Position
DLY = [0] 0 ms
33333/100000 PUU
Dir = [0] Forward
Speed = 200 rpm
Acc = [0] 6.67 ms
Dec = [0] 6.67 ms
Index Position List [100000]
PR#1 (I)(O)
Index Position
DLY = [0] 0 ms
0/100000 PUU
Dir = [0] Forward
Speed = 200 rpm
Acc = [0] 6.67 ms
Dec = [0] 6.67 ms
PR#3 (I)(O)
Index Position
DLY = [0] 0 ms
66667/100000 PUU
Dir = [0] Forward
Speed = 200 rpm
Acc = [0] 6.67 ms
Dec = [0] 6.67 ms
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Figure 7.1.4.7 Index Position command display
(1)
Index Position command section: the number of the index position. It shows the total
moving distance at the top using double arrows to show that the motor can run reciprocally
between each target position in each PR path.
(2)
Command execution type (property): a Position command can interrupt (INS) the previous
PR path. If the Interrupt function is enabled, it displays (I); if not, no information is displayed.
The Index Position command can overlap (OVLP) the next PR path. Before using the
Overlap function, set the delay time to 0. If the Overlap function is enabled, it displays (O);
if not, no information is displayed.
(3)
Delay time (DLY): determined by the shared PR parameters. It is defined by a command
from the controller. The servo starts counting the delay time once reaching the target
position.
(4)
Position command: the numerator is the position of this PR path; the denominator is the
total moving distance of this Index Position command, which is set by P2.052.
(5)
Rotation direction (Dir): available options are “Rotation forward (Forward)”, “Rotation in
reverse (Reverse)”, and “Rotation with the shortest distance (Shortest)”.
(6)
Target speed: determined by the shared PR parameters.
(7)
Acceleration time (ACC): determined by the shared PR parameters; length of time to reach
the target speed from stopped.
(8)
Deceleration time (DEC): determined by the shared PR parameters; length of time to
decelerate from target speed to stopped.