Position Command In Pr Mode - Delta ASD-A2-0121 Series User Manual

ASDA-A2

6.2.2 Position Command in PR Mode

PR position command source of each axis is from the 64 sets of register which are constituted by
parameters (P6-00, P6-01) ~ (P7-26, P7-27). 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 the following table:
Position
POS5
Command
P0
P1
~
P50
P51
~
P63
Status of POS0 ~ POS5: 0 means the DI is OFF; 1 means the DI is ON.
CTRG : the moment DI is from OFF to ON.
The application of absolute type and incremental type registers 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.
Absolute Type
POS4 POS3
0 0 0
0 0 0
1 1 0
1 1 0
1 1 1
20 turns
10 turns
POS2 POS1 POS0
0 0 0
0 0 1
0 1 0
0 1 1
1 1 1
Incremental Type
10 turns
Chapter 6 Control Mode of Operation
CTRG Parameters
P6-00
P6-01
P6-02
P6-03
~
P6-98
P6-99
P7-00
P7-01
~
P7-26
P7-27
20 turns
6-7