Delta ASD-A2R-0121 Series, Руководство пользователя

Страница: 211 / 660

Chapter 7 Motion Control

ASDA-A2R Series
Revision December, 2014 7-17
Description of command triggered method in PR mode:
64 command procedures are in each axis of PR mode. Procedure #0 is homing and the
others (#1~#63) are the procedures that users can self-define. The command triggered
method is concluded as the followings:
Command Source Description
Standard
trigger
DI.CTRG + POS0 ~ 5
Use DI.POS0 ~ 5 to trigger the desired procedure
number. Then, use the rising edge of DI.CTRG to
trigger PR command.
Application: PC or PLC that issues command via DI
Functional
trigger
DI.STP, SHM
When DI.STP is from OFF

ON, the command
stops in half way.
When DI.SHM is from OFF

ON, it starts homing.
Event
trigger
DI.EV1~4
The change status of DI.EV1 ~ 4 can be the triggered
event.
Set the triggered procedure number from OFF

ON
by parameter P5-98.
Set the triggered procedure number from ON

OFF
by parameter P5-99.
Application: connect to the sensor and trigger the
preset procedure.
Software
trigger
P5-07
Directly write the procedure number into P5-07 and
trigger command.
Both panel and communication (RS-232/485
／
CANopen) can do.
Application: PC or PLC that issues command via
communication.
Other CAP trigger
E-CAM disengage
trigger
After the capture is completed, procedure #50 can be
triggered and activated by the setting value Bit3 of
P5-39 X.
When E-cam is disengaged and returns to PR mode,
the procedure specified by P5-88 BA setting value
can be triggered.