Delta ASD-A2-0121 Series User Manual page 284

Chapter 7 Motion Control
OPT:
Bit 7
00: Always move forward (Forward Rotation)
01: Always move reverse (Reverse Rotation)
10: Shortest distance (Judging by the current position and target
position)
11: Reserved
Indexing
Coordinate
Command
Current
Position
Target
Position
INS: When this PR is executing, it interrupts the previous one.
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
OPT2:
Bit 27 Bit 26
- AUTO
AUTO: Position reached and the next PR is loaded automatically.
S_LOW: Selection of speed unit. 0 means the unit is 0.1 r/min; while 1 means 0.01 r/min
DATA (DW1): Data format
DW1: DATA (32 bits)
PUU: 0 ~ (P2-52-1)
P2-52: Size of indexing coordinates
DIR
Always move
reverse
Current
position
Always
move
forward
OPT2
Bit 25 Bit 24
- S_LOW
OPT
Bit 6
Shortest
distance
Rotation
Direction
ASDA-A2
Bit 5 Bit 4
OVLP INS
7-23