Delta ASD-A3-0121, User Manual

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Motion Control ASDA-A3
7-24
Revision December, 2017
7
0
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
60000
Absolute command
(ABS)
60000 PUU
Motor‟s current position
(Fb_PUU)
Target
position
Motor‟s current
position
(Fb_PUU)
Relative command
(REL)
60000 PUU
Target
position
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor‟s current
position
(Fb_PUU)
Target
position
Endpoint of
previous command
(Cmd_E)
60000
Incremental
command (INC)
60000 PUU
0
10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor‟s current
position
(Fb_PUU)
Target
position
Capturing
position
60000
High-speed position
capturing (CAP)
60000 PUU
Figure 7.1.3.8 Four types of position command
Table 7.1.3.2 Bit functions of parameters of PR mode Position control
Note:
1. Y: OPT: option
INS: Interrupt command interrupts the previous motion command.
OVLP: allow overlapping of the next command
CMD: Position command selection
2. Z, U: ACC / DEC: acceleration / deceleration time, set by P5.020 – P5.035.
3. A: SPD: internal target speed number, set by P5.060 – P5.075.
4. B: DLY: delay time, set by P5.040 – P5.055.
PR
parameters
D C B A U Z Y X
Command
type
- - DLY SPD DEC ACC OPT 2 or 3
Data
content
Target position [PUU]
BIT
3 2 1 0
Description
Command
type
CMD OVLP INS -
Data content
0 0
- -
ABS (absolute positioning)
0 1 REL (relative positioning)
1 0
INC (incremental
positioning)
1 1
CAP (high-speed position
capturing)