Delta ASD-A2R-0421 Series - Page 213

Chapter 7 Motion Control ASDA-A2R Series
Revision December, 2014 7-19
speed until it reaches the target speed. After the command is completed, the motor will
remain at the same speed and never stop.
OPT:
OPT selection
7 6 5 4 BIT
- UNIT AUTO INS
※DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR.
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
UNIT: 0 unit is 0.1r/min
(s/m10
6
for linear motor); 1 unit is PPS (Pulse Per Second)
ACC/DEC: 0 ~ F, acceleration / deceleration number (4 BIT)
ACC / DEC (4) Index P5-20 ~ P5-35
SPD: 0 ~ F, target speed number (4 BIT)
SPD (4) Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
DLY (4) Index P5-40 ~ P5-55
7) POSITION, Positioning control: (TYPE = 2, PR is completed and stopped), (TYPE = 3,
the next PR is executed automatically after the PR is completed)
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 - - DLY SPD DEC ACC OPT 2 or 3
DW1 DATA (32 bit): target position, Unit: Pulse of User Unit
OPT:
OPT Selection
7 6 5 4 BIT Description
CMD OVLP INS
0 0
- -
Absolute positioning command: Cmd_E=DATA
(Note 1)
1 0 Incremental positioning command: Cmd_E= Cmd_E
+ DATA (Note 2)
0 1 Relative positioning command: Cmd_E= current
feedback +DATA (Note 3)
1 1 CAP positioning command: Cmd_E=CAP 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.