Delta ASDA-A2 Series User Manual page 251

A2
ASDA-
6) Constant Speed Control: TYPE = 1
Bit 31 ~ 28
DW0 -
DW1
When executing this command, the motor will accelerate or decelerate from current speed
(the value does not necessarily have to be 0.). Once the motor reach the target speed, it
indicates that this command is completed and the motor will continue running in this target
speed and will not stop.
OPT:
Bit 7 Bit 6
- UNIT
※ When the TYPE is set to 1 ~ 3, it can accept DO signals, STP (Motor Stop), SNL(SCWL,
Reverse Software Limit), SPL(SCCWL, Forward Software Limit).
INS: Insertion command on PR
AUTO: When the motor speed reaches the constant speed area, the motor moves to the next
dedicated PR automatically.
UNIT: 0 ~ 1. 0: Unit is 0.1r/min 1: Unit is PPS(Pulse Per Second)
ACC / DEC: 0 ~ F. Accel / Decel time number (4 bits)
ACC / DEC (4)
SPD: 0 ~ F. Target speed (4 bits)
DLY: 0 ~ F. Delay time number (4 bits). The digital output of this PR activates after the delay
time. External INS is not valid. The delay time number settings correspond with the parameter
P5-40 ~ P5-55.
7) Position Control: (TYPE = 2, Single positioning control. Motor stops when positioning is
completed. TYPE = 3: Auto positioning control. Motor goes to next dedicated PR when
positioning is completed.)
Bit 31 ~ 28
DW0 -
DW1
7-20
27 ~ 24 23 ~ 20
- DLY
DATA (32 bit): Target speed. Unit: Defined by OPT.UNIT
OPT
Bit 5 Bit 4
AUTO
SPD (4)
DLY (4)
27 ~ 24 23 ~ 20
- DLY
DATA (32 bit): Target position, Unit: Pulse of User Unit
19 ~ 16 15 ~ 12
- DEC
INS
Index P5-20 ~ P5-35
Index P5-60 ~ P5-75
Index P5-40 ~ P5-55
19 ~ 16 15 ~ 12
SPD DEC
Chapter 7 Motion Control Functions
11 ~ 8 7 ~ 4
ACC OPT
11 ~ 8 7 ~ 4
ACC OPT
Revision September 2012
3 ~ 0
1
3 ~ 0
2 or 3