Parameter Settings - Delta ASD-A2-0121 Series User Manual

ASDA-A2

7.10 Parameter Settings

1) Target speed: P5-60 ~ P5-75, 16 PR in total
Bit
W0
2) Accel / Decel time: P5-20 ~ P5-35, 16 PR in total
Bit
W0
Note: The deceleration time used by DI: STP/EMS/NL(CWL)PL(CCWL) is defined via P5-07.
3) Pause time: P5-40 ~ P5-55, 16 PR in total
Bit
W0
4) PR parameters: 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 ~ P7-27, (64-bit), 63 sets of PR in total (2N)
31 ~ 28
Bit
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.
7-18
TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
T_ACC / T_DEC: 1 ~ 65500 (msec)
IDLE：0 ~ 32767 (msec)
Reserved (for test only; do not use it)
Reserved (for test only; do not use it)
Deceleration time of auto protection
1 st Speed setting of high speed homing
2 Speed setting of low speed homing
nd
Origin definition (Z pulse position)
27 ~ 24 23 ~ 20
... ...
15 ~ 0
15 ~ 0
15 ~ 0
32-bit
Reserved
Homing mode
PR command register
Forward software limit
Reverse software limit
Homing setting
19 ~ 16 15 ~ 12
... ...
DATA (32-bit)
Chapter 7 Motion Control
11 ~ 8 7 ~ 4
... ...
3 ~ 0
TYPE