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ASDA-A User Manual
12-5 Position Control Mode (Pr Mode)
Relevant Parameters Description
Communication
Parameter
Address
P1-01
0101H
P1-33
0121H
P1-34
0122H
P1-35
0123H
P1-36
0124H
P1-44
012CH
P1-45
012DH
P1-47
012FH
P1-50
0132H
P1-51
0133H
The following table indicates the position command registers and the corresponding moving speed registers.
Positioning Point
P1
P2
P3
P4
P5
P6
P7
P8
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Control Mode and Output Direction
001: Forward torque in Pr mode
101: Reverse torque in Pr mode
Position Control Mode (Pr)
0: Absolute position command
1: Incremental position command
Acceleration Time
1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
Deceleration Time
1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
Accel /Decel S-curve
When parameter P1-36 is set to 0, accel / decel function is disabled, i.e.
P1-34, P1-35 is disabled.
Electronic Gear Ratio (1st Numerator) (N1)
If the electronic gear deceleration ratio is 1/75, set numerator to 75
Electronic Gear Ratio (Denominator)
Homing Mode
202: When (MD1, MD0)=(OFF, ON), Forward Homing
203: When (MD1, MD0)=(OFF, ON), Reverse Homing
Homing Offset Rotation Number
Homing Offset Pulse Number
Total homing offset pulse number =P1-50 x 10000 + P1-51
Position Command Register
( P1-15, P1-16 )
( P1-17, P1-18 )
( P1-19, P1-20 )
( P1-21, P1-22 )
( P1-23, P1-24 )
( P1-25, P1-26 )
( P1-27, P1-28 )
( P1-29, P1-30 )
12-11
Chapter 12 Application Examples
Parameter Description
Moving Speed Register
P2-36 (V1)
P2-37 (V2)
P2-38 (V3)
P2-39 (V4)
P2-40 (V5)
P2-41 (V6)
P2-42 (V7)
P2-43 (V8)
4th Edition 2005/11/30, HE03
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