Position Mode; Position Command In Pt Mode; Position Command In Pr Mode - Delta ASD-A2R-0221 Series User Manual

6.2 Position Mode

The followings describe the related information and settings of position mode.

6.2.1 Position Command in PT Mode

PT, position command is the pulse input from terminal block. There are three types of
pulse and each type has positive/negative logic which can be set in parameter P1-00.
Related parameter: Please refer to Chapter 8 for further information.
Parameter Abbr.
P1-00
Position pulse can be input from CN1 terminal, PULSE (43), /PULSE (41), HPULSE (38),
/HPULSE (29) and SIGN (36), /SIGN (37), HSIGN (46), /HSIGN (40). It could be
open-collector or Line Driver. Please refer to Chapter 3.10.1 for wiring method.

6.2.2 Position Command in PR Mode

PR position command source of each axis is from the 64-set of register which constituted
by parameters (P6-00, P6-01) ~ (P7-26, P7-27). When going with the external DI/DO
(CN1, POS0 ~POS5 and CTRG), one of the previous 64 sets of register can be selected
as the position command. See as the following table:
Position
POS5 POS4 POS3
Command
P0 0
P1 0
~
P50 1
P51 1
~
P63 1
Status of POS0 ~ POS5: 0 means the DI is OFF; 1 means the DI is ON.
CTRG : the moment DI is OFF to ON.
The application of absolute type and incremental type register is rather extensive. It is
more like a simple procedure control. Users can complete the cyclic operation by
referring to the above table. For example, position command P1 is 10 turns and P2 is 20
Revision December, 2014
Chapter 6 Control Mode of Operation ASDA-A2R Series
PTT External Pulse Input Type
POS2
0 0 0
0 0 0
1 0 0
1 0 0
1 1 1
Function
POS1 POS0 CTRG
0 0
0 1
1 0
1 1
1 1
Corresponding
Parameter
P6-00
P6-01
P6-02
P6-03
~
P6-98
P6-99
P7-00
P7-01
~
P7-26
P7-27
6-3