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Motion Control

ASDA-A3

7

Rotary Axis Position command (Index Position)

You can use the Rotary Axis Position command in any PR paths (PR#1 - PR#99). The number

of PR paths is determined by the number of Rotary Axis Position commands. It is marked as

“Index Position”. See Figure 7.1.4.7.

Index Position List [100000]

(1)

PR#1 (I)(O)

PR#2 (I)(O)

PR#3 (I)(O)

(2)

Index Position

Index Position

Index Position

DLY=[0] 0 ms

DLY=[0] 0 ms

DLY=[0] 0 ms

(3)

0/100000 PUU

33333/100000 PUU

66667/100000 PUU

(4)

Dir=[0] Forward

Dir=[0] Forward

Dir=[0] Forward

(5)

Speed=200 rpm

Speed=200 rpm

Speed=200 rpm

(6)

Acc=[0] 6.67 ms

Acc=[0] 6.67 ms

Acc=[0] 6.67 ms

(7)

Dec=[0] 6.67 ms

Dec=[0] 6.67 ms

Dec=[0] 6.67 ms

(8)

Figure 7.1.4.7 Rotary Axis Position command (Index Position) display

(1) Rotary Axis Position command section: a set of Rotary Axis Position commands. It shows

the total moving distance at the top using double arrows to show that the motor can run

reciprocally between each target position in each PR path.

(2) Command execution type (property): a Rotary Axis Position command can interrupt (INS)

the previous PR path. If the Interrupt function is enabled, it displays (I); if not, no

information is displayed. The Rotary Axis Position command can overlap (OVLP) the next

PR path. Set the delay time to 0 when you use the Overlap function. If the Overlap

function is used, is displays (O); if not, no information is displayed.

(3) Delay time (DLY): determined by shared PR parameters. It is defined by a command from

the controller. The servo drive starts counting the delay time once the motor reaches the

target position.

(4) Position command: the numerator is the position of this PR path; the denominator is the

total moving distance of this Rotary Axis Position command, which is set by P2.052.

(5) Rotation direction (Dir): available options are “Rotation forward (Forward)”, “Rotation in

reverse (Reverse)”, and “Rotation with the shortest distance (Shortest)”.

(6) Target speed: determined by shared PR parameters.

(7) Acceleration time (ACC): determined by shared PR parameters; length of time to reach the

target speed from stopped.

(8) Deceleration time (DEC): determined by shared PR parameters; length of time to

decelerate from target speed to stopped.

7-44

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