Delta ASDA-A2 Series User Manual page 256

Chapter 7 Motion Control Functions
10) Special Function: TYPE = 0xA, Indexing command.
Bit 31 ~ 28
DW0 -
DW1 DATA (32 bit): Indexing Coordinate Command, Unit: Pulse of User Unit
OPT:
Bit 7
00: Always move forward (Forward Rotation)
01: Always move reverse (Reverse Rotation)
10: Shortest distance (Judging by the current position and target
position)
11: Reserved
Indexing
Coordinate
Command
Current
Position
Target
Position
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.
OPT2:
Bit 27 Bit 26
- AUTO
AUTO: When current positioning is completed, the motor moves to the next dedicated PR
automatically.
S_LOW: 0 ~ 1, speed unit selection. 0: Unit is 0.1r/min 1: U Unit is 0.01r/min
Revision September 2012
27 ~ 24 23 ~ 20
OPT2 DLY
DIR
Shortest
distance
Current
Always
Position
Move
Always
Reverse
Move
Forward
OPT2
Bit 25 Bit 24
- S_LOW
19 ~ 16 15 ~ 12
SPD DEC
OPT
Bit 6
Rotation
Direction
11 ~ 8 7 ~ 4
ACC OPT
Bit 5
OVLP
A2
ASDA-
3 ~ 0
0xA
Bit 4
INS
7-25