Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-21
DLY: Delay time after writing the parameters
Bit28 ~ Bit31are not 0x0, then AL213 occurs.
S_D: Specified data source and written target.
S_D
Bit 27 Bit 26 Bit 25 Bit 24 Explanation
SOUR Rsvd DEST Data Source Write Destination
0 0
0
0 Constant Parameter Px-xx
0 1 0 Parameter Px-xx Parameter Px-xx
1 0 0 Data Array Parameter Px-xx
1 1 0 Monitoring variable Parameter Px-xx
0 0 1 Constant Data Array
0 1 1 Parameter Px-xx Data Array
1 0 1 Data Array Data Array
1 1 1 Monitoring variable Data Array
Rsvd is not 0, then AL213 occurs.
OPT:
OPT
Bit 7 Bit 6 Bit 5 Bit 4
- - AUTO INS
Para_Data: the written data
INS: When executing this PR, it interrupts the previous one.
AUTO: When this PR is completed, it will execute the next PR automatically.
ROM: 1 means to write into EEPROM at the same time. (The supported written target is
parameter, if the target is data array, then it will not be written into EEPROM.)
DESTINATION: Setting of the written target
DESTINATION
Bit 19 ~ 16 Bit 15 ~ 12 Bit 11 ~ 8
When DEST = 0, it
represents parameter, Px-
xx
P_Grp P_Idx
When DEST = 1, it
represents data array.
Array_Addr
P_Grp, P_Idx: Specified parameter group and number
Array_Addr: Position of the specified data array.
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