Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-35
7
7.1.4 Overview of the PR procedure
In PR mode, there are seven types of commands. To understand how the PR procedure works,
ASDA-Soft presents the execution order and calling sequence of all PR procedures. First,
symbols and contents in the PR figure are shown. This includes five parts: number, execution
type, command type, next PR command, and command data. See Figure 7.1.4.1.
PR#1 (I)(O)
Position
DLY = [0] 0 ms
100000 PUU
INC
200 rpm
(1)
(2)
(3)
(4)
(5)
Figure 7.1.4.1 PR display
(1) Number: the PR number, ranging from PR#0 to PR#99 (100 sets of PR paths).
(2) Command execution (property): (B) Execute homing when power on; (O) Command
overlap; (R) write data to EEPROM; (I) command interrupt.
(3) Command type: there are six types of PR procedure commands: homing, speed, position,
writing, jumping, and arithmetic operations. The color displayed in this section depends on
the command type.
(4) Next procedure command: if followed by a PR command, the arrow points to the specified
PR path.
(5) Command information: displays the details of this PR path. The color depends on the
information types.
The following sections illustrate each command type and its presentation.