Delta ASDA Series User Manual

Application Examples ASDA Series Application Note
3-98 March, 2015
1. The main PR function of each cycle:
a Set PR#8 to Homing mode at the start position (Use the current position as original
point).
b Enable the first COMPARE function.
c Specify the JUMP path of PR#45 to PR#20.
d Execute position command (Absolute command: 100000 PUU): In each cycle, the
system starts from the start position and operates 100000 PUU till it moves to the end
position.
Figure 3.7.3 System initialization
2. Before entering the mark reading area, the main PR functions are as the followings:
a When the position is at 60000 PUU, CMP function is triggered. Then, it will call PR#45
(This function will be provided after firmware version of v1.038 sub07).
b PR#45 jumps to PR#20. This jump function will jump to different PR according to
different program.
c PR#23 changes the jump path of PR#45 to PR#30.
d Enable CAPTURE function and prepare to read the mark.
e Reinitialize COMPARE function and regard the content of data array address 51 as
the output of CMP function.
Use the current position
as original point
Disable CMP function
Disable CAP function
PR
#0
Home X = 8
Offset = 0
PR#1
PR
#1
(I)
Write
Delay = 0
P5-59 = 0x641030
PR
#2
(I)
Write
Delay = 0
P5-39 = 0x2038
PR
#3
CMP data address
CMP counter
CMP amount
Enable CMP function
PR
#3
(I)
Write
Delay = 0
P5-56 = 50
PR
#4
(I)
Write
Delay = 0
P5-57 = 0
PR
#5
(I)
Write
Delay = 0
P5-58 = 1
PR
#6
(I)
Write
Delay = 0
P5-59 = 0x641031
PR
#7
Select the jump PR
Moving distance
PR
#7
(I)
Write
Delay = 0
P6-91 = 20
PR
#8
(I)
Position (2)
D = 0, S = 5 rpm
100,000 PUU, ABS

Delta ASDA Series Specifications

General

Brand	Delta
Model	ASDA Series
Category	Servo Drives
Language	English