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Motion Control

7.1.4 Overview of the PR procedure

In the 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,

command execution type (property), command type, next procedure command, and command

information. See Figure 7.1.4.1.

7

(1)

PR#1 (I)(O)

(2)

Position

(3)

DLY=[0] 0 ms

100000 PUU

(4)

INC

200rpm

(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 type (property): (B) execute homing when power on; (O) command

overlap; (R) write data to EEPROM; (I) command interrupt.

(3) Command type: there are seven types of PR path commands: homing, speed, position,

writing, jumping, rotary axis positioning, 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 displayed contents and

color depend on the information type.

The following sections illustrate each command type and its representation.

Homing methods

In the display of homing methods, PR#0 always signifies the homing procedure, which is

marked as “Homing”. See Figure 7.1.4.2.

PR#0 (B)

(1)

Homing

0:PLZ

(2)

Offset=0

(3)

PR#1

(4)

Speed1=100

(5)

Speed2=20

(6)

Figure 7.1.4.2 Homing methods display

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