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Control Mode

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ASDA-A3

6

6.2.2 Position command in PR mode

The PR command source is the 100 built-in command registers, (P6.000, P6.001) - (P7.098,

P7.099). You can use DI (0x11) - DI (0x13), DI (0x1A) - DI (0x1C), and (0x1E) (POS0 - POS6 of

CN1) to select one of the 100 sets as the Position command and trigger the command with

DI.CTRG (0x08). See the following table for more details.

Position

command

POS6

Homing

0

PR#1

0

…

PR#50

0

PR#51

0

…

PR#99

1

POS5

0

0

1

1

1

POS4

0

0

1

1

0

POS3

0

0

0

0

0

POS2

0

0

0

0

0

POS1

0

0

1

1

1

POS0

0

1

0

1

1

CTRG

Corresponding

parameter

P6.000

↑

P6.001

P6.002

↑

P6.003

…

P6.098

↑

P6.099

P7.000

↑

P7.001

…

P7.098

↑

P7.099

Status of POS0 - POS6: 0 means that DI is off (the circuit is open); 1 means that DI is on (the

circuit is closed).

CTRG : indicates the moment the DI is switched from off to on.

The absolute type and incremental type position registers are used to control the operation

process. You can easily complete a periodic motor operation according to the preceding table.

For example, assume the Position command PR#1 is 10 turns and PR#2 is 20 turns. PR#1 is

issued first and PR#2 comes second. The following diagrams show the difference between

absolute and incremental positioning.

Absolute type

Incremental type

10 turns

20 turns

10 turns

20 turns

6-6

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