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Chapter 7 Motion Control
7.9
Parameter Settings in PR Mode
1) Target speed: P5-60 ~P5-75, 16 PR in total
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 ~ P7-99, (64 BIT), 99 sets of PR in total
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
speed until it reaches the target speed. After the command is completed, the motor will
remain at the same speed and never stop.
7-18
TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
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 high speed homing
27 ~ 24
23 ~ 20
...
...
27 ~ 24
23 ~ 20
-
DLY
DATA (32 bit): Target Speed ; Unit is defined by OPT.UNIT
15 ~ 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
11 ~ 8
7 ~ 4
3 ~ 0 BIT
...
...
11 ~ 8
7 ~ 4
3 ~ 0 BIT
ACC
OPT
Revision December, 2014
ASDA-M
TYPE
1
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