Delta ASD-A2-0121 Series User Manual page 276

Chapter 7 Motion Control
When issuing the command
Type of
Command
Cmd_E+= command data
Incremental
(incremental)
Positioning
Cmd_O does not change.
Command
DO.CMD_OK is OFF
Issue the
command of
Cmd_E does not change.
Cmd_O continuously output
DI：STP to
stop the DO.CMD_OK is
unchangeable
command
anytime
Cmd_E does not change.
Cmd_O does not change.
Homing
Command
DO.CMD_OK is OFF
DO.HOME is OFF
Cmd_E continuously output.
Speed Cmd_O continuously output. When the speed command is completed, it means
Command the speed reaches the setting value and does not stop.
DO.CMD_OK is OFF
Enter PR (Servo Off->On or switch the mode
and enter into PR mode)
Note: The incremental positioning command is accumulated by command termination Cmd_E. It is neither
related to the current position of the motor nor the command time.
＝＞When command is
＝＞
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E does not
change.
Cmd_O stops
according to the
deceleration curve
Cmd_E continuously
output
Cmd_O continuously
output
...
...
executing＝＞
Cmd_O = Cmd_E = current feedback position
ASDA-A2
＝＞ Command is
completed
Cmd_E does not change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Cmd_E does not change.
Cmd_O = position after
stop
DO.CMD_OK is ON
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
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