Delta ASD-A2R-1B43 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series
7-34 Revision December, 2014
7.11.1 Function Description of CAPTURE (Data Capture)
The concept of CAPTURE is to capture the position of motion axis instantaneously by
using the external trigger signal DI7. Then save it in data array so as to be used for
motion control afterwards. Since CAPTURE is finished by hardware, there is no
problem of software delay. It also can accurately capture the high-speed motion axis.
The CAPTURE features provided by this servo drive is as follows.
CAPTURE Features
Pulse Source
 Main encoder of the motor
 Auxiliary encoder (linear scale)
 Pulse command
The selected axis will be displayed in P5-37, the default value can
be written in before capture.
Note: When the source of COMPARE is CAP axis, the CAP
source cannot be changed.
Trigger signal  Triggered by DI7, the response time is 5 usec.
Note: DI7 directly connects to CAPTURE hardware. Thus,
regardless the setting value of P2-16 (DI Code), CAPTURE
can work. When using CAPTURE, in order to avoid DI error,
system will force to disable DI function, which means the
setting will be P2-16 = 0x0100 automatically. Since the
value is not written into EEPROM, P2-16 will return to the
default value after re-power on.
Trigger method
 Edge trigger can select contact A/B
 It is capable to continuously capture more than one point.
 It can set the trigger interval.
(The interval between this trigger and the next one.)
Data storage
position
 Data array. The start address is set by P5-36.
Capture number  It is set via P5-38 and will not exceed the limit of data array.
Capture format  32-bit (It has positive and negative.)
Auxiliary selection  After capturing the first data, the CAP axis coordinate system
will be set to the value the same as P5-76.
 After capturing the first data, the COMPARE function is
enabled automatically.
 After capturing all points, PR procedure＃50 is triggered
automatically.
DO.CAP_OK
 The default value is OFF.
 After capturing the last point, this DO is ON.
 Set P5-39.X0 to 1 so as to activate CAPTURE function and
this DO is OFF.
Note
 If P5-38=0, set the value of P5-39 X, Bit0 to 1 will disable the
CAPTURE function. Clear the setting value of P5-39 X, Bit0
to 0 and set DO.CAP_OK to OFF.
 Since the capture axis is 32-bit wide, the accumulation will
cause overflow. Please avoid this.

Delta ASD-A2R-1B43 Series Specifications

General

Brand	Delta
Model	ASD-A2R-1B43 Series
Category	Servo Drives
Language	English