Parameter Settings In Pr Mode - Delta ASD-A2R-0221 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series

7.10 Parameter Settings in PR Mode

1) Target speed: P5-60 ~P5-75, 16 PR in total
Rotary Motor:
W0
Linear Motor:
W0
2) Acceleration / Deceleration time: P5-20 ~ P5-35, 16 PR in total
W0
3) Pause time: P5-40 ~ P5-55, 16 PR in total
W0
4) PR parameter: P5-00 ~ P5-09, P6-00 ~ P6-01, 12 DWORD in total
P5-00
P5-01
P5-02
P5-03
P5-04
P5-05
P5-06
P5-07
P5-08
P5-09
P6-00
P6-01
Note: Path (procedure)
5) PR definition: P6-02 ~ P7-27, (64 BIT), 63 sets of PR in total (2N)
31 ~ 28
DW0 ...
DW1
Each PR has two parameters, the PR function is determined by TYPE. DATA represents
position or speed data while the others are the additional information.
6) SPEED, Constant speed control: TYPE = 1
31 ~ 28
DW0 -
DW1
When this command is executing, the motor accelerates or decelerates from the current
7-18
TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
TARGET_SPEED: 1 ~ 15999999 (
T_ACC / T_DEC: 1 ~ 65500 (msec)
IDLE: 0 ~ 32767 (msec)
Reserved (It is for testing only, do not use)
Reserved (It is for testing only, do not use)
Deceleration time of auto protection
st
1 Speed setting of high speed homing
nd
2 Speed setting of low speed homing
27 ~ 24 23 ~ 20
... ...
27 ~ 24 23 ~ 20
- DLY
DATA (32 bit): Target Speed ; Unit is defined by OPT.UNIT
32 ~ 0 BIT
32 ~ 0 BIT
15 ~ 0 BIT
15 ~ 0 BIT
32 BIT
Reserved
Homing mode
PR command register
Forward software limit
Reverse software limit
Homing setting
Origin definition
19 ~ 16 15 ~ 12
... ...
DATA (32 bit)
19 ~ 16 15 ~ 12
- DEC

6
10
)
11 ~ 8 7 ~ 4 3 ~ 0 BIT
... ...
11 ~ 8 7 ~ 4 3 ~ 0 BIT
ACC OPT
Revision December, 2014
TYPE
1