Delta ASDA-A3 Series User Manual page 221

Motion Control
7
PR parameters
Command type
Data Content
Note:
1. Y: OPT: option
Command type
INS: interrupt command that interrupts the previous motion command.
AUTO: automatically load the next PR command when the current one is complete.
UNIT: speed unit selection; 0 signifies 0.1 rpm and 1 signifies PPS.
2. Z, U: ACC / DEC: acceleration / deceleration time, set by P5.020 – P5.035.
3. B: DLY: delay time, set by P5.040 – P5.055.
7-24
Speed
Target speed
Acceleration time
Speed
Target speed
Deceleration time
Figure 7.1.3.2.2 Parameters for PR mode speed control
Table 7.1.3.2.1 Bit function of PR speed control
D C
- -
BIT
3
-
Delay time
Feedback speed
Command
Feedback speed
Command
Delay time
B A U
DLY - DEC
Target speed [0.1 rpm / PPS]
2 1
UNIT AUTO
Time
Time
Z Y X
ACC OPT 1
0
INS
ASDA-A3