Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Parameters
Revision December, 2017
8-151
8
Note:
1. After the origin is found (sensor or Z), it has to decelerate to a stop. The stop position exceeds the origin by a
short distance:
If returning to the origin is not needed, set PATH to 0;
If returning to the origin is needed, set PATH to a non-zero value and set PABS = ORG_DEF.
Example:
Upon completion of P6.000 = 0x1, automatically execute Path#1.
Set from absolute position (ABS) to 0 as the route of Path#1 (set P6.002 & P6.003).
2. If the origin is found (sensor or Z), and you want it to move an offset S and define the coordinate as P after moving,
then PATH = non-zero and set ORG_DEF = P - S, and this absolute Position command = P.
P6.001 Origin definition
Address: 0602H
0603H
Default: 0 Control mode: PR
Unit: - Setting range: -2147483648 to +2147483647
Format: DEC Data size: 32-bit
Settings:
Origin definition.
P6.002 PATH#1 definition
Address: 0604H
0605H
Default: 0x00000000 Control mode: PR
Unit: - Setting range: 0x00000000 – 0xFFFFFFFF
Format: HEX Data size: 32-bit
Settings:
Format of this parameter: (High word h) DCBA : (Low word L) UZYX
High word Low word
C D
B A
Y Z U
X
A SPD, Target speed index*
1
X TYPE, Path type
B DLY, Delay time index Y OPT, Option
C AUTO*
1
Z ACC, Acceleration time index*
1
D Reserved U DEC, Deceleration time index*
1