Delta ASDA-B3 Series, User Manual

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Motion Control ASDA-B3
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It is suggested that you use the PR path programming to use the motion commands with the
Capture function. You can use Write commands to set the high-speed position capture function, as
well as to execute motion commands once capturing is complete.
See the example in Figure 7.2.2.3. PR#1 confirms that the Capture function is disabled (P5.039.X
[Bit 0] = 0). PR#2 sets the start position of data array to #1. PR#3 sets the capturing amount to 3.
PR#4 sets the capturing axis’ position to 0 for the first capture point. PR#5 sets the cyclic capture
mode with delay time of 1 ms to ensure that the next PR path can be executed with the Capture
function. PR#6 enables the Capture function and resets the first point; and once completed,
continue executing PR#50. This selects the motor’s encoder as the capturing axis, using ‘normally
closed’ contact as the trigger logic with a trigger interval of 2 ms. PR#7 sets the Speed command
to 50 rpm. PR#50 sets the capture Position command to 50000 PUU. Once the command is
completed, continue to PR#51 with the Speed command setting at 50 rpm.
From Figure 7.2.2.4, you can see that after the DI is triggered, the capturing axis is reset to 0
and the data stored in data array #1 because the Reset function for the first point is enabled and
P5.076 is set to 0. At the moment the DI is triggered the second and third time, the position data
is written to the data array #2 and #3. Once the first capture cycle is complete, DO: [0x16]CAP
is set to on and then PR#50 (high-speed position capture command) and PR#51 (motion with
fixed speed) are executed. Then, the servo drive continues executing the next cycle;
meanwhile, DO: CAP is set to off when the procedure is complete and the capturing amount is
set to 3. When the DI is triggered for the fourth time, the capture axis’ position is not reset; the
position data of the capturing axis is written to #1 again. Therefore, the data written in the
previous cycle is replaced. At the moment the DI is triggered the fifth and sixth time, the position
data is written to the data array #2 and #3. Once the second capture cycle is complete, DO:
[0x16]CAP is set to on and then PR#50 (high-speed position capture command) and PR#51
(motion with fixed speed) are executed.
When using Cyclic Capture mode (P1.019.X = 1), the Reset function for the first point is only
valid for the first cycle. Executing the PR path is valid for every cycle; in other words, every time
a cycle ends, PR#50 is executed. The first position data captured in every cycle is written to the
data array set by P5.036, and then the other data is written in sequence. So, position data
written in the previous cycle is always replaced by the position data of the next cycle.