Introduction of PR Operation 1.1 System Information ............................................................................................... 1-2 1.1.1 What is System Parameter and How is it Used? .......................................... 1-2 1.1.2 Mapping Parameter ....................................................................................... 1-5 1.1.4 Data Array.................................................................................................... 1-10 1.2 Introduction of ASDA-A2 PR Function ...........................................................
1-10 1.2.1 Shared Setting List for PR ........................................................................... 1-13 1.2.2 Introduction of PR Homing .......................................................................... 1-14 1.2.2.1 Reference to Limit .............................................................................. 1-14 1.2.2.3 Reference to Z Pulse ......................................................................... 1-17 1.2.2.4 Reference to the Falling-Edge Signal on Home Sensor .................... 1-18 1.2.2.5 Reference to Current Position ...........................................................
1-20 1.2.3 PR Speed Command .................................................................................. 1-22 1.2.4 PR Position Command ................................................................................ 1-23 1.2.5 Jump Command .......................................................................................... 1-25 1.2.6 PR Write-in Command ................................................................................ 1-25 1.2.7 PR Triggering Methods ................................................................................ 1-26 1.2.7.1 Trigger by DI.CTRG / POS0 ~ POS5 / STOP ....................................
1-26 1.2.7.2 Parameter P5-07 ............................................................................... 1-26 1.2.7.3 DI.SHOM ............................................................................................ 1-27 1.2.7.4 Event Trigger...................................................................................... 1-27 1.2.7.5 Others CAPTURE Completed / COMPARE Completed / E-CAM Disengaged ...................................................................................................... 1-29 1.3 Motion Control ....................................................................................................
1-29 1.3.1 Monitoring Variables Related to PR ............................................................ 1-29 1.3.3 Overlap of Commands ................................................................................ 1-34 1.3.4 Interrupt of Command ................................................................................. 1-35 1.4 Presentation of PR .............................................................................................. 1-39 1.5 How is PR arranged? .......................................................................................... 1-42 1.6 PR Setting Examples ..........................................................................................
1-44 March, 2015 1-1