Delta ASDA-A3 Series User Manual page 408

ASDA-A3
Note:
1. After the origin is found (sensor or Z), it has to decelerate to a stop. The stop position exceeds the origin by a
short distance:
If returning to the origin is not needed, set PATH to 0;
If returning to the origin is needed, set PATH to a non-zero value and set PABS = ORG_DEF.
Example:
Upon completion of P6.000 = 0x1, automatically execute Path#1.
Set from absolute position (ABS) to 0 as the route of Path#1 (set P6.002 & P6.003).
2. If the origin is found (sensor or Z), and you want it to move an offset S and define the coordinate as P after moving,
then PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
P6.001
Default: 0
Unit: -
Format: DEC
Settings:
Origin definition.
P6.002
Default: 0x00000000
Unit: -
Format: HEX
Settings:
Format of this parameter: (High word h) DCBA : (Low word L) UZYX
A SPD, Target speed index*
B DLY, Delay time index
C AUTO*
D Reserved
Revision December, 2017
Origin definition
PATH#1 definition
High word
D C B A
1
1
Control mode: PR
Setting range: -2147483648 to +2147483647
Data size: 32-bit
Control mode: PR
Setting range: 0x00000000 – 0xFFFFFFFF
Data size: 32-bit
Low word
U Z
X TYPE, Path type
Y OPT, Option
Z ACC, Acceleration time index*
U DEC, Deceleration time index*
Parameters
Address: 0602H
0603H
Address: 0604H
0605H
Y X
1
1
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