Delta ASD-A2-0121 Series User Manual page 281

ASDA-A2
OPT:
Bit 7 Bit 6
CMD OVLP
0 0
1 0
0 1
1 1
※DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
CMD: The calculation of the position terminal command (Cmd_E) is as the followings:
Note 1: Position terminal command is determined by DATA.
Note 2: Position terminal command is determined by the previous terminal command (Monitoring variable
40h) plus DATA.
Note 3: Position terminal command is determined by the current feedback position (Monitoring variable 00h)
plus DATA.
Note 4: Position terminal command is determined by the position latched by CAP (Monitoring variable 2Bh)
plus DATA.
8) Special code: TYPE = 7, jump to the specified PR.
Bit 31 ~ 28
DW0 -
DW1
OPT:
Bit 7 Bit 6
- -
PATH_NO: The jump target procedure number
FUNC_CODE: Reserved
DLY: The delay time after jump
9) Special code: TYPE = 8, write the specified parameter.
31 ~ 28
Bit
DW0 0
DW1
DLY: Delay time after writing the parameters
Bit28 ~ Bit31 are not 0x0, then AL213 occurs.
7-20
Bit 5 Bit 4
INS
Absolute position command: Cmd_E = DATA (Note 1)
Incremental position command: Cmd_E = Cmd_E + DATA
(Note 2)
- -
Relative position command: Cmd_E = Current feedback
position + DATA (Note 3)
Capture position command: Cmd_E = Capture position +
DATA (Note 4)
27 ~ 24 23 ~ 20
- DLY
OPT
Bit 5
-
27 ~ 24 23 ~ 20
S_D DLY
OPT
Explanation
19 ~ 16 15 ~ 12
- FUNC_CODE
PR Number (0 ~ 63)
Bit 4
INS
19 ~ 16 15 ~ 12
DESTINATION
SOURCE
Chapter 7 Motion Control
11 ~ 8 7 ~ 4
- OPT
11 ~ 8 7 ~ 4
OPT
3 ~ 0
7
3 ~ 0
8