Delta ASDA-A3 Series User Manual page 589

Parameters
Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E
DI name
8
POS0
POS1
POS2
POS3
POS4
POS5
POS6
Value: 0x1D
DI name
ABSE
Value: 0x1F
DI name
ABSC
Value: when DI.ABSE is on, the DI.ABSQ from DI4 replaces the DI4 function from P2.013
DI name
ABSQ
always
input by
DI4
8-216
PR command selection (1 - 99)
POS POS POS
Position
command
6 5
Homing 0 0
PR 1 0 0
~
PR 50 0 1
PR 51 0 1
~
PR 99 1 1
When DI.ABSE is on, it is in absolute mode and can enable the functions
of DI.ABSQ, DI.ABSC, DI.ABSR, DI.ABSD, and DI.ABSC at the same
time.
When DI.ABSE is on, the functions of DI4, DO2, and DO3 are no longer
the ones assigned by the parameter. The DI4 function will be DI.ASDQ,
DO2 will be DI.ABSR, and DO3 will be DI.ABSD. In addition, DI pins of
DI.ABSC can be assigned by parameters.
When DI.ABSC is on, the number of turns stored in absolute encoder are
cleared. But this DI is only valid when DI.ABSE is on.
During I/O transmission, the controller sends the handshaking signal.
When DI.ABSQ is off, the controller issues the request; when DI.ABSQ
is on, the controller has processed the ABSD signal. This DI is only valid
when DI.ABSE is on. Refer to Figure 10.3.4. for a detailed description.
Description
POS POS POS POS
4 3 2 1 0
0 0 0 0 0
0 0 0 0 1
1 0 0 1 0
1 0 0 1 1
0 0 0 1 1
Description
Description
Description
Triggering
method
Corres-
ponding
CTRG
para-
meter
P6.000
P6.001
P6.002
P6.003 Level
triggered
P6.098
P6.099
P7.000
P7.001
P7.098
P7.099
Triggering
method
Level
triggered
Triggering
method
Rising-edge
triggered
Triggering
method
Rising- and
falling-edge
triggered
ASDA-A3
Control
mode
PR
Control
mode
All
Control
mode
All
Control
mode
All