Chapter 7 Motion Control ASDA-M
7-24 Revision December, 2014
※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 8: angle command – need to enter the starting angle and moving angle
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
Grade
7 6 5 4 3 2 1 0
Percentage 45% 40% 35% 30% 25% 20% 10% 0%
Grade
F E D C B A 9 8
Percentage 100% 90% 80% 75% 70% 65% 55% 50%
SEL: 0~2, axis selection
SELECT
Code
2 1 0
Axis
selection
ZX ZY YX
0: XY two-axis circular interpolation, Z axis is the height of helix.
1: YZ two-axis circular interpolation, X axis is the height of helix.
2: XZ two-axis circular interpolation, Y axis is the height of helix.
Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1 DATA (32 bit)
The source of X command is the radius of arc interpolation. Unit: User unit (Pulse of User
Unit)
Command source: P6-02~P7-99 of the second axis, parameter DW1 (DATA-32BIT), 99 PR
in total.
31 ~ 16 BIT 15 ~ 0 BIT
DW1 DATA2 (16 bit ) DATA1 (16 bit )
The source of Y command is the starting angle of arc and moving angle of arc. Unit: 0.5
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