Chapter 7 Motion Control ASDA-M
7-26 Revision December, 2014
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
1: YZ, two-axis circular interpolation
2: XZ, two-axis circular interpolation
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 ~ 0 BIT
DW1 DATA (32 bit)
The source of Y command is the starting angle of arc. Unit is 0.5 degrees (Note 11)
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 Z command is the moving angle of arc. Unit is 0.5 degrees (Note 11)
Note 11: 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.
14) Homing setting: P6-00 ~ P6-01, (64 BIT) one set of PR.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 BOOT - DLY DEC2 DEC1 ACC PATH
DW1 ORG_DEF (32 bit)
PATH: 0 ~ 0x63, (6 BIT)
00 (Stop): Homing completed and stops
01 ~ 0x63 (Auto): Homing completed and executes the specified PR: 1 ~ 99
Note: PATH (procedure)
ACC: Acceleration time
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