ASDA-A2 Chapter 7 Motion Control
7-14 Revision February, 2017
Type of
Command
When issuing the command
＝＞
＝＞When command is
executing＝＞
＝＞ Command is
completed
anytime
Homing
Command
Cmd_E does not change.
Cmd_O does not change.
DO.CMD_OK is OFF
DO.HOME is OFF
Cmd_E continuously
output
Cmd_O continuously
output
...
...
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
Speed
Command
Cmd_E continuously output.
Cmd_O continuously output. When the speed command is completed, it means
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)
Cmd_O = Cmd_E = current feedback position
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.
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