ASDA-M Chapter 7 Motion Control
Revision December, 2014 7-25
degrees. (Note 9)
DATA1 is the setting of arc starting angle. DATA2 is the setting of arc moving angle.
Note 9: The unit of angle is 0.5 degrees, which means the input value is two times of the
setting value. For example, if it is set to 90 degrees, the input value will be 180.
Command source: P6-02~P7-99 of the third axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1 DATA (32 bit )
The source of X command is the setting of the height of helix. Unit: user unit (Pulse of User
Unit)
13) Two-axis circular interpolation: TYPE = F, execute the function of two-axis circular
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 F
DW1 DATA (32 bit ): the setting is determined by different axis
OPT:
OPT Selection
7 6 5 4 BIT
Description
CMD OVLP AUTO
0 0
- -
ngle command: starting angle and moving
angle (Note 10)
1 0
Reserved
0 1
Reserved
- - 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 10: 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
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