Delta ASDA-A3 Series, User Manual

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ASDA-A3 Motion Control
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7.1.3.3 Position command
The PR mode includes a position control function. There are two command types: Mode 2 and
Mode 3. In Mode 2 the command signifies that it stops once the command is complete. In Mode
3 the command signifies that the next PR path is automatically executed. You use the same
method to set the value for these modes in ASDA-Soft. See Figure 7.1.3.3.1. In Figure
7.1.3.3.1, INS is an interrupt command that interrupts the previous motion command. OVLP
stands for the overlap command that allows the next PR command to overlap the command that
is currently being executed when decelerating. If you use this function, setting the delay time to
0 is suggested (refer to Section 7.1.6). ACC / DEC is the acceleration / deceleration time
determined by the shared PR parameters. The software calculates and displays the required
duration for accelerating from 0 to the target speed. SPD is the target speed specified by the
shared PR parameters. You can choose whether it is multiplied by 0.1. DLY is the delay time
specified by the shared PR parameters and it is defined by the command from the controller; in
other words, once the target position is reached, the servo drive starts counting the delay time.
The Position command is user-defined and its unit is PUU.
See Figure 7.1.3.3.2 for the effects of the parameters for the PR mode position control. Table
7.1.3.3.1 shows the bit function when position control is in operation.
Figure 7.1.3.3.1 PR mode Position control screen in ASDA-Soft