Delta ASDA-A2 Series User Manual page 261

A2
ASDA-
4) External Insertion Command
The external insertion will change the command being executed at the moment it
inserted. The delay time is not a matter for external insertion.
INS
OVLP
DLY
SPEED
P_Command 1
AUTO
INS
OVLP
SPEED
DLY
V_Command 1
DLY
V_Command 1: Speed Command. The delay time is not a matter for external insertion.
P_Command 2: Position Command. INS is set
(DLY is not valid for external insertion command)
This procedure can be used to change position profile freely.
7-30
INS
OVLP
DLY
DLY
P_Command 2
TIME
INS
OVLP
DLY
P_Command 2
TIME
Chapter 7 Motion Control Functions
The final destination :
Absolute : Cmd_E = command
Relative : Cmd_E = Fb_PUU + command
Incremental : Cmd_E = last Cmd_E + command
Cap. Relative : Data captured + command
The final destination :
Absolute : Cmd_E = command
Relative : Cmd_E = Fb_PUU + command
Incremental : Cmd_E = last Cmd_E + command
Cap. Relative : Data captured + command
Revision September 2012