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Motion Control

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ASDA-A3

7

As mentioned in Section 7.1.2, the PR mode provides four monitoring variables for you to

monitor the servo commands and feedback status. These are Command position PUU

(Cmd_O), PR command end register (Cmd_E), Feedback position PUU (Fb_PUU), and Position

error PUU (Err_PUU). Before homing completes, the command end register (Cmd_E) cannot be

calculated because the coordinate system can only be created after homing is complete, and

the target position remains unknown after the Homing command is issued. This is why the

status of each monitoring variable is different during homing. In Homing command’s default

setting, the contents of Cmd_E and Cmd_O are identical. After the servo finds the reference

origin and creates the coordinate system, it sets the content of Cmd_E to the coordinate of the

reference origin. However, once it finds the reference origin, it still requires some distance for

motor to decelerate to a stop. Meanwhile, Cmd_O continues to issue commands. If no other PR

commands are issued after homing (other than the Position command), the contents of the final

command position (Cmd_O) and command end position (Cmd_E) will be different. See Figure

7.1.3.1.3.

Before

command

issued

After

command

issued

Err_PUU

Fb_PUU

Cmd_O

Cmd_E

Err_PUU

Fb_PUU

Cmd_O

Cmd_E

Command in

execution

Command

completed

Err_PUU

Fb_PUU

Cmd_O

Cmd_E

Err_PUU

Fb_PUU

Cmd_O

Cmd_E

Motor

positioned

Err_PUU

Fb_PUU

Cmd_O

Cmd_E

Figure 7.1.3.1.3 Homing mode and monitoring variables

7-22

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