Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Motion Control
Revision December, 2017
7-21
7
Table 7.1.3.1 Bit function of PR speed control
Note:
1. Y OPT: option
INS: Interrupt command that interrupts the previous motion command.
AUTO: automatically load the next PR command when the current one is completed.
UNIT: speed unit selection; 0 signifies 0.1 rpm and 1 signifies PPS.
2. Z, U: ACC / DEC: acceleration / deceleration time, set by P5.020 – P5.035.
3. B: DLY: delay time, set by P5.040 – P5.055.
Position command
PR mode includes a position control function. The Position command is user-defined and its unit
is PUU. There are two command types: Mode 2 and Mode 3. In Mode 2 the command signifies
that it stops once the command is completed. 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 7.1.3.6.
In Figure 7.1.3.6, INS stands for the 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 apply this this function,
setting the delay time to 0 is suggested (please 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 time to accelerate 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; in other words, once the target position is reached, the delay time starts counting.
PR
parameters
D C B A U Z Y X
Command
type
- - DLY - DEC ACC OPT 1
Data
Content
Target speed [0.1 rpm / PPS]
BIT
3 2 1 0
Command type - UNIT AUTO INS