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Motion Control

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ASDA-A3

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7.2 Application of motion control

Applications of motion control in the ASDA-A3 include high-speed position capture (Capture),

high-speed position compare (Compare), and E-Cam. High-speed position capture uses digital

input (DI7) to instantly capture the motor’s feedback position and stores this position in the data

array. For high-speed position compare, it writes the specified motor position to the data array

and outputs a high-speed digital signal (DO4) once the motor feedback position reaches this

specified position. The purpose of E-Cam is to create an E-Cam curve according to the

correlation between the Master and the Slave, and then store the curve in the data array.

The Slave axis refers to the Master axis’ position and moves to the position specified by the

E-Cam. You can find more details about the setting and how it works in the following sections.

7.2.1 Data array

The data array can store up to 800 sets of 32-bit data (0 - 799). You can use it to store the high-

speed position capture data and high-speed position compare data as well as the E-Cam

curves.

To prevent overwriting or accidentally changing any data, properly segment the space for these

three functions as their individual spaces are not defined by default. Set P2.008 to 30 and then

35 or use ASDA-Soft to write the data to EEPROM; otherwise, the data in RAM is not saved

after you turn the power off. ASDA-Soft includes a user-friendly screen for reading and writing

the data array. See the following figure.

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Figure 7.2.1.1 Data Array screen in ASDA-Soft

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