Delta D25886 User Manual download pdf (Page 124)

4. Motion Control Instructions

DVP-MC operating manual 4-83

4. Position capture

1) The “Position” captured by using the DMC_Capture Position instruction is converted from other

value

Mode Data source

Mode 0, mode 1 The pulse number that servo motor feeds back to servo drive.

Mode 2 The pulse number received at the input terminal pulse、/pule、

sign、/sign or hpulse、 /hpule、hsign、/hsign of CN1 port of

servo drive.

Mode 3 The pulse number received at the input terminal A 、/A、B 、

/B of CN5 port of servo drive.

Mode 10, mode 11 The pulse number received at the external encoder interface

of 10MC.

2) The position captured by using the DMC_Capture Position instruction is converted according to

the axis parameter. For different modes, the conversion data sources are different. When

“Servo gear ratio setting” and “Mechanism gear ratio setting” in the axis parameters are as

following figure is and mode is 2, the pulse number received at the CN1 terminal: pulse、/pule、

sign、/sign is 435 and the captured position is 65.25. The calculation formula: 435×（3×1000）

÷（2×10000）=65.25. 1000, 2, 3 and1000 in the formula correspond to 1000, 2, 3, and 1000 in

the left figure below respectively. In other mode, the calculation method for the positon captured

via the instruction is same as above mentioned but the data source is different.

3) When Mode=10 or 11 in DMC_CapturePosition instruction, the captured position value can be

calculated according to the method mentioned above as well. In actual application, the position

capture is generally performed by building the external encoder master axis. When the input

parameters of DMC_ExternalMaster instruction are shown as left figure below and the pulse

number received at the external encoder interface of 10MC is 638, the position captured via

DMC_CapturePosition instruction is 95.4. The calculation formula: 638×（3×1000）÷（2×10000）

=95.4. 1000,2,3 and 1000 in the formula correspond to 1000,2,3 and1000 of the input

parameters of DMC_ExternalMaster instruction in the left figure below respectively. When I0

turns OFF->ON once in the DMC_CapturePosition instruction displayed in the right figure below,

the position capture is performed once.

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Delta D25886 User Manual Page 124