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Motion Control

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ASDA-A3

7

7.2.3 High-speed position compare function (Compare)

The high-speed position compare function (CMP) compares the instant position feedback of the

motion axis with the value saved in the data array. When the compare condition is fulfilled, a

high-speed digital output signal DO4 (with execution time of only 5 µs) is sent immediately for

motion control. As the Compare function is executed by the hardware, there is no lag in the

software, and the position compare is more accurate on high speed motion axes. While the

Compare function is enabled, the servo drive outputs a DO4 signal (DO4 is not user-defined).

As shown in Figure 7.2.3.1 Flowchart for the high-speed position compare function, P5.056 sets

the start position in the data array for comparing (default is #50 in the data array). You must

write the position data to be compared to the data array before comparing. P5.058 sets the

comparing amount. The amount has to be greater than 0, otherwise the Compare function is not

executed. P5.059 enables and disables the Compare function and other settings. See the

following table for more information. Note that when the comparing source is CN2, the pulse

resolution of the comparing axis is set by P1.046 (numerator) and P1.097 (denominator) with

default values of 2500 and 0 respectively; that is, the moving distance of the comparing axis is

10000 PUU per motor revolution. The comparing position in the data array can be shifted using

P1.023 (non-volatile) and P1.024 (volatile). You can set P1.019.Z to have P1.024 be reset to 0

automatically after the shift. You can also set the Compare function in ASDA-Soft, as shown in

Figure 7.2.3.2.

P5.059 Bit

Function

Description

When P5.058 > 0 and Bit 0 = 1, the comparing starts.

Each time a point is compared, the value of P5.058 is

0

Enable high-speed position decremented by 1. When P5.058 = 0, it means the

compare function

comparing is finished, and Bit 0 is reset to 0. If Bit 0 is

already 1, the written value must not be 1; you must write

0 to disable the Compare function.

1

X

Cycle mode

If Bit 1 = 1, after all comparing is complete, P5.058 resets

to the setting value and then the compare procedure

starts again.

If Bit 2 = 1, after all comparing is complete, enable the

2

Enable Capture function

after data compared

Capture function (P5.039.X Bit 0 = 1 and set the previous

value to P5.038 as the data size to be captured). If the

Capture function is already enabled, then this bit function

is invalid.

3

Reset position for the

comparing axis to 0

If Bit 3 = 1, set P5.057 to 0 once all comparing is

complete, the position for the comparing axis is reset to 0.

Y

-

Source setting of

comparing axis

0: capturing axis

1: CN5

2: CN1 (pulse command)

3: CN2

When the source of Compare is the Capture axis, the

source of Capture (P5.039.Y) cannot be changed. If CN2

is selected as the source, the pulse resolution is

determined by P1.046 and P1.097 (Encoder pulse

number output setting).

Z

-

Trigger logic

0: NO (normally open); 1: NC (normally closed)

U

-

Trigger PR path

If Bit 0 = 1, PR#45 is triggered once the last data is

compared.

CBA - Pulse output duration (ms) -

7-72

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