Chapter 7 Motion Control
ASDA-A2R Series
Revision December, 2014
7-19
speed until it reaches the target speed. After the command is completed, the motor will
remain at the same speed and never stop.
OPT:
OPT selection
7
6
5
4 BIT
-
UNIT
AUTO
INS
※
DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR.
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
UNIT: 0 unit is 0.1r/min
(
s
/
m
10
6
for linear motor); 1 unit is PPS (Pulse Per Second)
ACC/DEC: 0 ~ F, acceleration / deceleration number (4 BIT)
ACC / DEC (4)
Index P5-20 ~ P5-35
SPD: 0 ~ F, target speed number (4 BIT)
SPD (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
7) POSITION, Positioning control: (TYPE = 2, PR is completed and stopped), (TYPE = 3,
the next PR is executed automatically after the PR is completed)
31 ~ 28 27 ~ 24 23 ~ 20
19 ~ 16
15 ~ 12
11 ~ 8
7 ~ 4
3 ~ 0 BIT
DW0
-
-
DLY
SPD
DEC
ACC
OPT
2 or 3
DW1
DATA (32 bit): target position, Unit: Pulse of User Unit
OPT:
OPT Selection
7
6
5
4 BIT
Description
CMD
OVLP
INS
0
0
-
-
Absolute positioning command: Cmd_E=DATA
(Note 1)
1
0
Incremental positioning command: Cmd_E= Cmd_E
+ DATA (Note 2)
0
1
Relative positioning command: Cmd_E= current
feDATA (Note 3)
1
1
CAP positioning command: Cmd_E=CAP po
DATA (Note 4)
※
DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
CMD: The calculation of the position terminal command (Cmd_E) is as the followings:
Note 1: Position terminal command is determined by DATA.
