Chapter 7 Motion Control ASDA-A2R Series
7-14 Revision December, 2014
General PR Mode PR Mode in A2R
automatically.
Software limit
protection
No Yes
7.6 The Position Unit of PR Mode
The position data of PR mode is represented by PUU (Pulse of User Unit). It is also the
proportion between the controller position unit and the internal position unit of the servo
drive, which is the so-called electronic gear ratio of the servo drive.
1
） The position unit of the servo drive (pulse):
Delta
’s 20bit rotary motor: Encoder unit: 1280000 (pulse/rev), which will not
change.
Motor from other brands: Unit is single-phase pulse.
2
） User unit (PUU): The unit of the controller.
Delta
’s 20bit rotary motor: P pulse per revolution (PUU/rev), the gear ratio should
set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = 1280000 / P
Rotary motor from other brands: P pulse per revolution (PUU/rev), the gear ratio
should set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = X / P
X = encoder resolution (pulse/rev)
Linear motor: if 1PUU = P
m , the gear ratio should set as:
GEAR_NUM(P1-44) / GEAR_DEN(P1-45) = P*X
X = encoder resolution (
pulse/m ), which is the width of single-phase pulse.
7.7 Description of Register in PR Mode
1） Position register of PR mode: All is represented in PUU (Pulse of User Unit).
2
） Command register (monitor variable 064): Command termination register Cmd_E. It
represents the absolute terminal coordinate of position command.
3
） Command output register (monitor variable001): Cmd_O; it represents the absolute
coordinate from the current output command.
4
） Feedback register (monitor variable 000): Fb_PUU; it shows the absolute feedback
position of the motor.
5
） Deviation register (monitor variable 002): Err_PUU; it is the deviation between the
register from command output and feedback register.
6
） In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU =
Cmd_O - Fb_PUU.
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