ASDA-A2 Chapter 7 Motion Control
7-20 Revision February, 2017
OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
Explanation
CMD OVLP INS
0 0
- -
Absolute position command: Cmd_E = DATA (Note 1)
1 0
Incremental position command: Cmd_E = Cmd_E + DATA
(Note 2)
0 1
Relative position command: Cmd_E = Current feedback
position + DATA (Note 3)
1 1
Capture position command: Cmd_E = Capture position +
DATA (Note 4)
※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 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DW0 - - DLY - FUNC_CODE - OPT 7
DW1 PR Number (0 ~ 63)
OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
- - - INS
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.
Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
DW0 0 S_D DLY DESTINATION OPT 8
DW1 SOURCE
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