Send Quote Requests to info@automatedpt.com

Motion Control

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com

ASDA-A3

7

7.1.3.6 Rotary Axis Position command (Index)

The PR mode includes a Rotary Axis Position command, which creates a rotary axis position

system. This command positions the motor within the rotary axis position sytstem. Unlike other

feedback positions in global coordinate system, the Rotary Axis Position command is able to

divide the rotary axis position scale into the number of paths required by the application (see

Figure 7.1.3.6.1). When using the Rotary Axis Position command for motor operation, if the

motor position exceeds the range, the absolute position or position counter overflow occurs.

Refer to the setting in Chapter 10. You can start the rotary axis positioning in the Rotary Axis

Position Setting Wizard (Index Coordinates Setting Wizard) in the PR screen in ASDA-Soft (see

Figure 7.1.3.6.2). As shown in the example, the start PR path is set to 1, the path number is set

to 8, and the total moving distance is 80000 PUU. When you click OK, the software

automatically writes position command 0 PUU to PR#01, 10000 PUU to PR#02, 20000 PUU to

PR#03, and so on up to PR#08. When the rotary axis position reaches 80000 PUU, it

automatically returns to 0 PUU. In addition, you can modify the rotary axis position in each PR

path as needed, as shown in Figure 7.1.3.6.3.

 INS is an interrupt command that interrupts the previous motion command (see Section

7.1.6.).

 OVLP is an overlap command that allows the next PR command to overlap the command

that is currently being executed when decelerating. If you use this function, setting the

delay time to 0 is suggested (refer to Section 7.1.6.).

 DIR sets the rotation direction with options of forward rotation (always runs forward),

reverse rotation (always runs backward), and the shortest distance. The movement is

illustrated in Figure 7.1.3.6.4.

 S_LOW is the speed unit with options of 0.1 r/min or 0.01 r/min.

 AUTO is a command that automatically loads and executes the next PR path when the

current PR completes.

 ACC / DEC is the acceleration / deceleration time determined by the shared PR

parameters.

 SPD is the target speed specified by the shared PR parameters.

 DLY is the delay time that is determined 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 rotary axis traveling segment. Note that

the setting range must be smaller than the rotary axis position scale (P2.052).

Table 7.1.3.6.1 shows the bit functions when a Rotary Axis Position command is in operation. If

you use the rotary axis position function, execute homing first in order to create the position

system so that the origin of the motor’s feedback position and that of the motor’s rotary axis

position can be identical. If you do not execute homing, AL237 occurs.

7-32

Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com