Delta ASDA-A3 Series User Manual page 846

ASDA-A3
Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E
DI name
PR command selection (1 - 99)
Position
command
Homing
POS0
POS1
PR#1
POS2
POS3
...
POS4
PR#50
POS5
POS6
PR#51
...
PR#99
Value: 0x1D
DI name
When DI.ABSE is on, the servo is in absolute mode and can enable the
functions of DI.ABSQ, DI.ABSC, DO.ABSR, and DO.ABSD at the same
time.
ABSE
When DI.ABSE is on, the functions of DI4, DO2, and DO3 are no longer
the ones assigned by the parameters. The DI4 function will be DI.ABSQ,
DO2 will be DO.ABSR, and DO3 will be DO.ABSD. In addition, the DI
point of DI.ABSC can be assigned by the parameter.
Value: 0x1F
DI name
When DI.ABSC is on, the current absolute position of the encoder is set
as the origin definition (P6.001), but this DI is only valid when DI.ABSE
ABSC is on.
Note: in communication mode, the origin definition is the setting value of OD
607Ch multiplied by a negative sign.
Value: when DI.ABSE is on, the DI.ABSQ from DI4 replaces the DI4 function from P2.013
DI name
During I/O transmission, the controller sends the handshaking signal.
ABSQ
When DI.ABSQ is off, the controller issues the request; when DI.ABSQ
always
is on, the controller has processed the ABSD signal. This DI is only valid
input by
when DI.ABSE is on. Refer to Figure 10.3.4.1.1 for a detailed
DI4
description.
Description
POS POS POS
POS
6
5 4 3
0 0 0 0
0 0 0 0
0 1 1 0
0 1 1 0
1 1 0 0
Description
Description
Description
POS POS POS
CTRG
2 1 0
0 0 0
0 0 1
0 1 0
0 1 1
0 1 1
Parameters
Triggering Control
method mode
Corres-
ponding
para-
meter
P6.000
P6.001
P6.002
P6.003
Level
PR
...
triggered
P6.098
P6.099
P7.000
P7.001
...
P7.098
P7.099
Triggering Control
method mode
Level
All
triggered
Triggering Control
method mode
Rising-
edge All
triggered
Triggering Control
method mode
Rising-
and
falling- All
edge
triggered
8
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