Delta ASDA-A3 Series User Manual page 438

ASDA-A3
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
2. C: OPT2: Option 2
Command type
S_LOW: speed unit options, 0 stands for 0.1 rpm and 1 for 0.01 rpm.
AUTO: automatically load the next PR command when the current one is complete.
3. Z, U: ACC / DEC: acceleration / deceleration time set by P5.020 - P5.035.
4. A: SPD: delay time, set by P5.060 - P5.075.
5. B: DLY: delay time, set by P5.040 - P5.055.
Table 7.1.3.6.1 Bit function of PR Rotary Axis Position command
BIT
D C
- OPT2
Rotary Axis Position command [PUU] (0 to P2.052-1)
BIT
3 2
DIR
0 0
0 1
1 0
1 1
BIT
3
-
B A U
DLY SPD DEC
1 0
OVLP INS
Always goes forward (Forward)
- -
2 1
AUTO -
Motion Control
Z Y X
ACC OPT 0xA
Description
-
Always goes backward
(Backward)
Shortest distance
-
0
S_LOW
7
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