Orientalmotor aSTEP AZ Series, Руководство пользователя, Страница: 117 / 180

Direct data operation
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4 PR
OFINE
T c
ommunica
tion
6-3 Operation example
A condition to execute direct data operation can be selected from the ON edge or ON level of TRIG of fixed I/O (IN).
A condition can be selected with the TRIG-MODE of fixed I/O (IN).
Before operating the motor, check the condition of the surrounding area to ensure safety.
„
When direct data operation is executed at ON edge of TRIG
As an example, this section explains how to perform the following direct data operation.
z
Setting example
• Operation type: Incremental positioning (based on command position)
•
Position: 5,000 steps
• Speed: 1,000 Hz
•
Starting/changing rate: 1,000 kHz/s
• Stopping deceleration: 1,000 kHz/s
•
Operating current: 100 %
• Forwarding destination: Execution memory
z
Operation processing flow
Descriptions are given using the host controller as the subject.
1. Check the DCMD-RDY has been turned ON.
2. Set the following data.
• Output (host controller → driver)
Byte Description Setting value Note
4, 5 TRIG-MODE [bit9 of fixed I/O (IN)] 0 Start at ON edge
6, 7 Direct data operation operation type 2
Incremental positioning
(based on command
position)
8 to 11 Direct data operation position 5,000 5,000 steps
12 to 15 Direct data operation speed 1,000 1,000 Hz
16 to 19 Direct data operation starting/changing rate 1,000,000 1,000 kHz/s
20 to 23 Direct data operation stopping deceleration 1,000,000 1,000 kHz/s
24, 25 Direct data operation operating current 1,000 100 %
26, 27 Direct data operation forwarding destination 0 Execution memory
3. Turn the TRIG ON.
Direct data operation is started.
4. Check the TRIG_R has been turned ON, and turn the TRIG OFF.
1
2
4 3
Write value
TRIG
Data
DCMD-RDY
TRIG_R
READY
MOVE
Motor operation
OFF
ON
OFF
ON
OFF
ON
OFF
ON
OFF
ON