Delta ASDA-A3 Series User Manual page 529

Parameters
Note:
1. After the origin is found (sensor or Z), it has to decelerate to a stop. The stop position exceeds the origin by a short
distance:
8
If returning to the origin is not needed, set PATH to 0.
If returning to the origin is needed, set PATH to a non-zero value and set PABS = ORG_DEF.
Example:
Upon completion of P6.000 = 0x1, automatically execute Path#1.
Set from absolute position (ABS) to 0 as the route of Path#1 (set P6.002 & P6.003).
2. If the origin is found (sensor or Z), and you want it to move an offset S and define the coordinate as P after moving,
then PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
P6.001
Default:
Unit:
Format:
Settings:
Origin definition.
P6.002
Default:
Unit:
Format:
Settings:
Format of this parameter: (High word h) DCBA : (Low word L) UZYX
A
B
C
D
Definitions are as follows:
 YX
Bit 3
8-156
Origin definition
0
-
DEC
PATH#1 definition
0x00000000
-
HEX
High word
1
SPD, Target speed index*
DLY, Delay time index
AUTO* 1
Reserved
Y: OPT, Option
Bit 2 Bit 1
UNIT AUTO
-
CMD OVLP
Control mode: PR
Setting range: -2147483648 to +2147483647
Data size:
Control mode: PR
Setting range: 0x00000000 - 0xFFFFFFFF
Data size:
X TYPE, Path type
Y OPT, Option
Z ACC, Acceleration time index*
U DEC, Deceleration time index*
X: TYPE, Path type
Bit 0
INS 1: SPEED, constant speed control.
2: SINGLE, positioning control. It stops when finished.
INS
3: AUTO, positioning control. It automatically loads the
next path when finished.
Address: 0602H
0603H
32-bit
Address: 0604H
0605H
32-bit
Low word
1
1
ASDA-A3