Speed Command; Homing Mode And Monitoring Variables - Delta ASDA-A3 Series User Manual

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finds the reference origin, it still requires some distance for motor to decelerate to a stop.

Meanwhile, Cmd_O continues to issue commands. If no other PR commands are issued after

homing (other than the Position command), the contents of the final command position (Cmd_O)

and command end position (Cmd_E) will be different. See Figure 7.1.3.3.

Speed command

The PR mode provides a speed control function. The following parameters are available for PR

speed setting: acceleration / deceleration time, delay time, and target speed. You can easily set

the Speed command in the PR mode screen in ASDA-Soft. See Figure 7.1.3.4.

INS is an interrupt command that interrupts the previous motion command. Please refer to

Section 7.1.6 for more details. AUTO is a command that automatically loads the next PR path. It

executes the next PR path when the current PR path completes. In addition, you can set the

target speed with two unit options, which are 0.1 rpm and 1 PPS ranging from -6000 rpm–6000

rpm. You select the ACC/DEC acceleration / deceleration time with the shared PR parameters.

The software calculates and displays the required duration for accelerating from 0 to the target

speed. DLY is the delay time that is determined by the shared PR parameters. It delays the

command; in other words, the delay time is the time to wait after the target speed command

Revision December, 2017

Figure 7.1.3.3 Homing mode and monitoring variables

Motion Control

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