Chapter 7 Motion Control ASDA-M
7-22 Revision December, 2014
set to 0. Even though it is part of the interpolation, position of Y-axis remains the
same.)
In this condition, users have to know which axis’ setting( including OVLP, DLY,
VSPD, VDEC, VACC, OPT) is applied to conduct the interpolation and
synchronous motion. When PR of X-axis is triggered, the servo drive will conduct
interpolation by using the setting of DW0 of X-axis. If PR of Y-axis is triggered,
DW0 of Y-axis will be applied to conduct interpolation.
9) FEED RATE setting: TYPE = 5, Feed Rate setting during the process of modifying the
motion.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 - - DLY - VDEC VACC OPT 5
DW1 DATA(32BIT): FEED RATE, Unit: PPS (Pulse Per Second)
When executing this command, the Feed Rate of motion vector will be dynamically
changed. If the motion vector is processing, the updated vector speed and acceleration
/deceleration time will be effective immediately.
OPT:
OPT selection
7 6 5 4 BIT
- - AUTO -
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
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
10) Special code: TYPE=7, jump to the specified PR
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 - - DLY - FUNC_CODE - OPT 7
DW1 PATH_NO (0~63)
OPT:
OPT selection
7 6 5 4 BIT
- - - INS
PATH_NO: The jump target procedure number
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