Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-29
7
setting the delay time to 0 is suggested (refer to Section 7.1.6.). DIR sets the rotation direction
with options of forward (always runs forward), backward (always runs backward), and shortest
distance. The movement is illustrated in Figure 7.1.3.15. S_LOW is the speed unit with options of
0.1 rpm or 0.01 rpm. AUTO automatically loads and executes the next PR path when current PR
completes. ACC / DEC is the acceleration / deceleration time setting determined by shared PR
parameters. SPD is the target speed set by the PR shared parameters. DLY is the delay time
defined by the command from controller; meaning that when motor reaches the target position,
the servo drive starts counting the delay time. Position command is the target position of each
index segment. Please note that the setting range must be smaller than the total index moving
distance (P2.052). Table 7.1.3.5 shows the bit function for the Index Position command. If you
use the index function, please execute homing in order to create the coordinate system so that
the origin of the motor‟s feedback position and that of the motor‟s index position can be identical.
If you do not execute homing, AL237 occurs.
4
5
6
7
8
3
2
1
Indexing
coordinates
Total index moving distance
Path No. Total index
moving
distance
Motor‟s
running
direction
Indexing
coordinates
1
2
3
4
5
6
7
8
Motor‟s running
direction
Position (PUU)
Motor‟s feedback
position
Motor‟s index position
2
31
-1
-(2
31
-1)
Total index
moving
distance
(P2.052)-1
Figure 7.1.3.12 PR mode indexing coordinates