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Motion Control

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ASDA-A3

7

7.1.5 Trigger methods for the PR command

There are six types of PR trigger methods. They are DI-triggered, Event-triggered, P5.007-

triggered, Capture-triggered (high-speed position capturing), Compare-triggered (high-speed

position comparing), and E-Cam-triggered. You can choose the most suitable trigger method

according to the applications and requirements.

Digital input (DI) triggering

You can choose the PR path to be executed by using the internal registers (Position command

Bit 0 - Bit 6) and use a command to trigger the selected PR path. Before using DI-triggering

commands, you must define the 8 sets of DI functions, which are [0x11]POS0, [0x12]POS1,

[0x13]POS2, [0x1A]POS3, [0x1B]POS4, [0x1C]POS5, [0x1E]POS6, and [0x08]CTRG (refer to

Table 8.1). You can also set these functions in the I/O screen in ASDA-Soft, as shown in Figure

7.1.5.1.

Figure 7.1.5.1 I/O screen in ASDA-Soft

Select the PR number to be executed based on the on / off status of DI.POS0 - 6 and use

DI.CTRG to trigger the specified PR path. See Figure 7.1.5.1 for an example.

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