Path Order; Pr Path - Delta ASDA-A2 Series User Manual

B. Position offset values are not defined when performing homing operation. After homing operation, the
position offset values can be set as a dedicated Pr path.
For example, if the users want the motor to move a distance S (relative to home senor or Z pulse), and
defined the position coordinate as P, set Pr path as a non-zero value and set ORG_DEF=P - S.
(P is the absolute position command and S is the incremental position command)

7.10.1 Path Order

1) Each path can set to interrupt the previous path (INS) or overlap the next path (OVLP).
INS
2) The priority of INS is higher than OVLP.
PATH 1
OVLP=0
OVLP=1
OVLP=0
OVLP=1
7.10.2

Pr Path

1) Path In Order
DLY 1
Speed 1
Revision April, 2010
OVLP
Path 1
PATH 2 Path Order
INS=0 In order
INS=0 Overlap
INS=1 Interrupt
Path 2
Chapter 7 Motion Control Function|ASDA-A2 Series
INS
Path 2
Output
PATH1 and PATH2 can be speed or position
DLY 1
command
When PATH 2 is a speed command, OVLP
NO DLY
function is disabled,
PATH1 and PATH2 can be speed or position
N/A
command
Path 1: AUTO, DLY is set
Path 2: INS is not set
(DLY: Delay time is calculated from the time
when the position command is completed)
Path 1: Speed command, DLY is set
Path 2: Position command
(DLY: Delay time is calculated from the time
when the position command is completed)
OVLP
Note
7-21