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ASDA-A3

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Motion Control

Before issuing

command

Command trigger

DI.CTRG

Command in

execution

Execution

Motor

completed positioned

Command

Cmd

PR position command

completed

DO.Cmd_OK

Motor reaches target

position

DO.TPOS

Servo procedure

completed

DO.MC_OK

|Cmd_O(Pulse) – Fb_Pulse| > P1.054

Figure 7.1.2.3 Operation of DI/DO signals in PR mode

7

Before issuing

command

Command trigger

DI.CTRG

Command in

execution

Motor in

operation

Motor

positioned

Command

Cmd

PR position command

completed

DO.Cmd_OK

Motor reaches

target position

DO.TPOS

Servo procedure

completed

DO.MC_OK

Delay time

|Cmd_O(Pulse) –

Fb_Pulse| > P1.054

Command

completed

Figure 7.1.2.4 Operation of DI/DO signals in PR mode (including delay time)

7-9

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