Delta ASD-A2 Series User Manual page 232

Chapter 7 Motion Control
6) SPEED, Constant speed control: TYPE = 1
Bit 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.
OPT:
Bit 7 Bit 6
- UNIT
※DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR.
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
UNIT: 0 unit is 0.1r/min (
ACC / DEC: 0 ~ F, Accel / Decel number
ACC (4-bit) / DEC (4-bit)
SPD: 0 ~ F, target speed number
SPD (4-bit)
DLY: 0 ~ F, delay time number. The delay after executing this PR. The external INS is invalid.
DLY (4-bit)
7) POSITION, Positioning control: (TYPE = 2, PR is completed and stopped), (TYPE = 3, the next
PR is executed automatically after the PR is completed)
Bit
31 ~ 28
DW0 -
DW1
Revision February, 2017
27 ~ 24 23 ~ 20
- DLY
DATA (32 bit): Target speed. Unit: Defined by OPT.UNIT
OPT
Bit 5 Bit 4
AUTO INS

6
10 m s /
for linear motor); 1 unit is PPS (Pulse Per Second)
27 ~ 24 23 ~ 20
- DLY
DATA (32 bit): Target position, Unit: Pulse of User Unit
19 ~ 16 15 ~ 12
- DEC
Index P5-20 ~ P5-35
Index P5-60 ~ P5-75
Index P5-40 ~ P5-55
19 ~ 16 15 ~ 12
SPD DEC
11 ~ 8 7 ~ 4
ACC OPT
11 ~ 8 7 ~ 4
ACC OPT
ASDA-A2
3 ~ 0
1
3 ~ 0
2 or 3
7-19