Delta ASD-A3-0121, User Manual

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ASDA-A3 Motion Control
Revision December, 2017
7-31
7
4
5
6
7
8
3
2
1
Indexing
Coordinate
Target
position
Current
position
Total index
moving
distance
Motor‟s
running
direction
Indexing
coordinates
1
2
3
4
5
6
7
8
Target
position
Current
position
1
2
3
4
5
6
7
8
Always forward
(Forward)
Always backward
(Backward)
&
Shortest Dist.
10000 PUU
20000 PUU
30000 PUU
40000 PUU
50000 PUU
60000 PUU
70000 PUU
0 PUU
Always
backward
(Backward)
&
Shortest Dist.
Always forward
(Forward)
Figure 7.1.3.15 Motor‟s operation direction and indexing coordinates
Table 7.1.3.5 Bit function for the Index Position command
Note:
1. Y: OPT: option
INS: Interrupt command interrupts the previous motion command.
OVLP: allow overlapping of the next command
2. C: OPT2: Option 2
S_LOW: speed unit options, 0 stands for 0.1 rpm and 1 for 0.01 rpm.
AUTO: automatically load the next PR command when the current one is completed.
3. Z, U: ACC / DEC: acceleration / deceleration time set by P5.020 – P5.035.
4. A: SPD: delay time, set by P5.060 – P5.075.
5. B: DLY: delay time, set by P5.040 – P5.055.
BIT
PR
parameters
D C B A U Z Y X
Command
type
- OPT2 DLY SPD DEC ACC OPT 0xA
Data content
Index Position command [PUU](0 – P2.052-1)
BIT
3 2 1 0
Description
Command
type
DIR OVLP INS -
Data content
0 0
- -
Always goes forward
(Forward)
0 1
Always goes backward
(Backward)
1 0 Shortest distance
1 1 -
BIT
3 2 1 0
Command type - AUTO - S_LOW