Table of ContentsASDA-A2R Series
Revision December, 2014
6.5.1 Speed / Position Dual Mode ................................................................. 6-36
6.5.2 Speed / Torque (force) Dual Mode ....................................................... 6-36
6.5.3 Torque (force) / Position Dual Mode ..................................................... 6-37
6.6 Others ............................................................................................................ 6-38
6.6.1 The Use of Speed Limit ........................................................................ 6-38
6.6.2 The Use of Torque (force) Limit ............................................................ 6-38
6.6.3 Analog Monitor ..................................................................................... 6-39
6.6.4 The Use of Brake .................................................................................. 6-40
Chapter 7 Motion Control
7.1 Motion Control Functions of ASDA-A2R ........................................................ 7-1
7.2 Information of the Servo Drive ....................................................................... 7-1
7.2.1 Description of Monitor Variables ........................................................... 7-3
7.2.2 Description of Data Array ...................................................................... 7-9
7.3 Description of Motion Axes ............................................................................ 7-12
7.4 Description of PR Mode ................................................................................. 7-13
7.5 The Difference between General PR Mode and the One in ASDA-A2R ........ 7-13
7.6 The Position Unit of PR Mode ....................................................................... 7-14
7.7 Description of Register in PR Mode ............................................................... 7-14
7.8 Homing Description of PR Mode ................................................................... 7-16
7.9 DI/DO Provided by PR Mode and Diagrams ................................................. 7-16
7.10 Parameter Settings in PR Mode .................................................................... 7-18
7.10.1 The Relation between the Previous Path the and Next Path .............. 7-24
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