Delta ASD-A3-0121, Руководство пользователя

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Motion Control ASDA-A3
7-2
Revision December, 2017
7
7.1 PR mode description
In PR mode, the servo drive automatically generates the motion commands. Apart from the basic
arithmetic operation commands, the ASDA-A3 saves all parameter settings in the parameter file
in the servo drive. Thus changing parameter values simultaneously changes the PR commands.
The ASDA-A3 provides 100 path setting sets, which include the homing method, Position
command, Speed command, Jump command, Write command, Index Positioning command, and
arithmetic operation commands.
Except for arithmetic operations, the properties and corresponding data for each PR path are set
by parameters. You can find information for all PR parameters in the descriptions of Group 6 and
7 in Chapter 8. For example, PR#1 path is defined by two parameters: P6.002 and P6.003.
P6.002 specifies the properties for PR#1, such as the PR command type, whether to interrupt
and whether to auto-execute the next PR. P6.003 is subject to change based on the properties
set in P6.002. If P6.002 is set to a Speed command, then P6.003 specifies the target speed.
When P6.002 is set to a Jump command, then P6.003 specifies the target PR. The parameters
for the PR#2 path are P6.004 and P6.005 and they work the same way as P6.002 and P6.003.
The same is true for the rest of PR paths. See Figure 7.1.1.
PR#0
PR#1
PR#2
PR#50
PR#99
P6.000
P6.002
P6.004
P7.000
P7.098
P6.001
P6.003
P6.005
P7.001
P7.099
PR path
Setting
paramters
Path property Path data
Figure 7.1.1 Setting parameters for each PR path