Delta ASDA-A3 Series User Manual page 715

Parameters
P2.121
Default: 0x00000000
8
Format: HEX
Settings:
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9 - Bit 31
P2.122 -
P2.124
8-138
Special bit register 6
Unit: -
Function
Reserved
Behavior after homing in
communication mode
Definition of the settings for origin
definition (P6.001) and Home offset
(OD 607Ch) in communication mode
Unit of Homing speeds (OD 6099h) in
communication mode
Reserved
Unit selection for Homing speeds (OD
6099h), Homing acceleration (OD
609Ah), Profile acceleration (OD
6083h), and Profile deceleration (OD
6084h) in communication mode
Reserved
Definition of positive / negative
direction when P4.005 (Servo motor
JOG control) controls the motor
through USB / RS-485 communication
Auto clearing of AL180 and AL185
after the state machine re-enters the
Operational state in EtherCAT mode
Reserved
Reserved
Control mode: All
Setting range: 0x00000000 to 0x000001FF
Data size: 32-bit
Description
-
0: after homing, execute absolute postioning to the
position with the offset distance set in OD 607Ch
1: decelerate to a stop after homing
0: origin definition (P6.001) = - (setting of OD
607Ch)
1: origin definition (P6.001) = OD 607Ch
0: 0.1 rpm
1: 1 rpm
-
0: the unit of OD 6099h is determined by the setting
of P2.121 [Bit 3]. The unit of OD 609Ah, OD 6083h,
and OD 6084h is ms (0 - 3000 rpm).

When P2.121 [Bit 3] = 0, the unit of OD 6099h
is 0.1 rpm.

When P2.121 [Bit 3] = 1, the unit of OD 6099h
is 1 rpm.
1: the unit of OD 6099h is PUU/sec. The unit of OD
609Ah, OD 6083h, and OD 6084h is PUU/sec
-
0: the same as the direction originally defined
1: in reverse to the direction originally defined
Example:
P1.001.Z = 0
P4.005
P2.121 [Bit 7] = 0
4999
4998
0: no; manually clear the alarms
1: yes
-
ASDA-A3
Address: 02E0H
02E1H
2
.
P1.001.Z = 0
P2.121 [Bit 7] = 1