Delta Electronics ASDA-A2 Series User Manual page 227

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2) Position offset values are not defined when performing homing operation. After homing
operation, the position offset values can be set as a dedicated PR.
For example, if users want the motor to move a distance S (relative to home senor or Z
pulse), and defined the position coordinate as P, set PR as a non-zero value and set
ORG_DEF=P - S.
(P is the absolute position command and S is the incremental position command)
7.10.1 Motion Commands
1) Each motion command can be inserted (INS) or overlapped (OVLP).
INS
2) The priority of INS is higher than OVLP.
P_Command 1 P_Command 2
OVLP=0
OVLP=1
OVLP=0
OVLP=1
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OVLP
P_Command 1
Sequence
Sequential
INS=0
Command
Overlap
INS=0
Command
Insertion
INS=1
Command
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Chapter 7 Motion Control Functions
INS
P_Command 2
Output
P_Command 1 and P_Command 2
DLY 1 can be speed or position
command.
When P_Command 2 is a speed
NO DLY command, OVLP function is
disabled.
P_Command 1 and P_Command 2
N/A can be speed or position
command.
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OVLP
Note
Revision January 2011
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