Delta ASDA-A3 Series, User Manual, Page: 232 / 845

ASDA-A3 Motion Control
7-35
7
Table 7.1.3.6.1 Bit function of PR Index Position command
Note:
1.
Y: OPT: option
INS: interrupt command that 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 r
/
m
in
and 1 for 0.01 r/min.
AUTO: automatically load the next PR command when the current one is complete.
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