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Chapter 6 Control Mode of Operation
The Source of External Pulse:
0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN)
1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
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 3.9.1 for wiring method.
6.2.2 Position Command in PR Mode
PR position command source of each axis is from the 99-set of register which constituted
by parameters (P6-00, P6-01) ~ (P7-26, P7-99). Through communication, one of the
99-set of register can be used as the position command. 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
turns. P1 is issued first and P2 comes after. The following diagram shows the difference
of both.
6-6
POS2
0
0
0
0
0
0
1
0
0
1
0
0
1
1
1
POS1 POS0
CTRG
0
0
0
1
1
0
1
1
1
1
ASDA-M
Corresponding
parameter
P6-00
P6-01
P6-02
P6-03
~
P6-98
P6-99
P7-00
P7-01
~
P7-26
P7-27
Revision December, 2014
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