Chapter 7 Motion Control ASDA-M
7-20 Revision December, 2014
(Monitor variable 00h) plus DATA.
Note 4: Position terminal command is determined by the position latched by CAP (Monitor
variable 2Bh) plus DATA.
8) Multi-axis linear interpolation: TYPE = 4, execute the function of multi-axis linear
interpolation.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 SEL OVLP DLY VSPD VDEC VACC OPT 4
DW1 DATA(32bit): Target position, Unit: Pulse of User Unit
OPT:
OPT Selection
7 6 5 4 BIT
Description
CMD OVLP AUTO
0 0
-
-
Absolute positioning command: Cmd_E=DATA
(Note 5)
1 0
Incremental positioning command: Cmd_E= Cmd_E
＋DATA (Note 6)
0 1
Relative positioning command: Cmd_E= current
feedback +DATA (Note 7)
- - Reserved
※DI.STP stop and software limit are acceptable.
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
AUTO: Position reached and the next PR is loaded automatically.
CMD: The calculation of the position command termination (Cmd_E) is as follows:
Note 5: Position terminal command is determined by DATA.
Note 6: Position terminal command is determined by the previous terminal command
(Monitor variable 40h) plus DATA.
Note 7: Position terminal command is determined by the current feedback position
(Monitor variable 00h) plus DATA.
VACC/VDEC: 0 ~ F, the number of vector acceleration/deceleration (4 BIT)
VACC / VDEC (4) Index P5-20 ~ P5-35
VSPD: 0 ~ F, the number of target vector speed (4 BIT)
VSPD (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
OVLP: 0 ~ F, overlap percentage selection (4 BIT) and the overlap percentage selection of
the next PR
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