Delta ASDA-A3 Series User Manual page 224

ASDA-A3
Absolute command
(ABS)
60000 PUU
Relative command
(REL)
60000 PUU
Incremental
command (INC)
60000 PUU
High-speed position
capturing (CAP)
60000 PUU
PR parameters
Command type
Data Content
Note:
1. Y: OPT: option
Command type
Data Content
INS: interrupt command that interrupts the previous motion command.
OVLP: allow overlapping of the next command
CMD: Position command selection
2. Z, U: ACC / DEC: acceleration / deceleration time set by P5.020 – P5.035.
3. A: SPD: delay time, set by P5.060 – P5.075.
4. B: DLY: delay time, set by P5.040 – P5.055.
Motor's current position
(Fb_PUU)
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor's current
position
(Fb_PUU)
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0
Endpoint of
Motor's current
previous command
position
(Cmd_E)
(Fb_PUU)
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0
Capturing
60000
position
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
0
Figure 7.1.3.3.3 Four types of Position command
Table 7.1.3.3.1 Bit functions of PR position control
D C
- - DLY
BIT
3 2
CMD OVLP
0 0
0 1
1 0
1 1
Target
position
60000
60000
Motor's current
Target
position
position
(Fb_PUU)
B A U
SPD DEC
Target position [PUU]
1 0
INS
ABS (absolute positioning)
REL (relative positioning)
- -
INC (incremental positioning)
CAP (high-speed position capturing)
Motion Control
Target
position
Target
position
Z Y X
ACC OPT 2 or 3
Description
-
7
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