Delta ASD-A2 Series User Manual page 227

ASDA-A2
Type of When issuing the command
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.
7-14
＝＞When command is
＝＞
Cmd_E
output
Cmd_O
output
...
...
executing＝＞
continuously
continuously
Cmd_O = Cmd_E = current feedback position
Chapter 7 Motion Control
＝＞ Command is
completed
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
Revision February, 2017