Delta ASDA-A2 Series User Manual page 252

Chapter 7 Motion Control Functions
OPT:
Bit 7 Bit 6 Bit 5
CMD OVLP
0 0
1 0
0 1
1 1
※ 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.
OVLP: Overlap the next PR. When OVLP is enabled, please set DLY to 0. This function is not
available in speed mode. In position mode, DLY becomes disabled.
CMD: The calculation method for Cmd_E (End of position command) is described in the notes
below:
Note 1: The end of position command is an absolute position command which is equal to
DATA directly.
Note 2: The end of the position command is an incremental position command which is
equal to the end of the position command (Cmd_E, monitor variable 40h) plus a
designated DATA.
Note 3: The end of the position command is a relative position command which is equal to
current feedback position (monitor variable 00h) plus a designated DATA.
Note 4: The end of the position command is a capture position command which is equal to
capture position (monitor variable 2Bh) plus a designated DATA.
8) Special Function: TYPE = 7. Jump to the dedicated PR.
Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16
DW0 -
DW1
OPT:
Bit 7 Bit 6
- -
PR Number: Dedicated jump PR
Revision September 2012
Bit 4
INS
Absolute position command: Cmd_E = DATA (Note 1)
Incremental position command: Cmd_E = Cmd_E + DATA
(Note 2)
- -
Relative position command: Cmd_E = Current feedback
position + DATA (Note 3)
Capture position command: Cmd_E = Capture position +
DATA (Note 4)
- DLY
OPT
Bit 5 Bit 4
- INS
OPT
Explanation
15 ~ 12
- FUNC_CODE
PR Number ( 0 ~ 63 )
ASDA-
11 ~ 8 7 ~ 4
- OPT
A2
3 ~ 0
7
7-21