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ASDA-A3

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Motion Control

7.1 PR mode description

In PR mode, the servo drive automatically generates the motion commands. Apart from the

basic arithmetic operation commands, the ASDA-A3 saves all parameter settings in the

parameter file in the servo drive. Thus changing parameter values simultaneously changes the

PR commands. The ASDA-A3 provides 100 path setting sets, which include the homing

method, Position command, Speed command, Jump command, Write command, Rotary Axis

Position command, and arithmetic operation commands.

Except for arithmetic operations, the properties and corresponding data for each PR path are

set by parameters. You can find information of all PR parameters in the descriptions of Groups 6

and 7 in Chapter 8. For example, PR#1 path is defined by two parameters, P6.002 and P6.003.

P6.002 is for specifying the property of PR#1, such as the PR command type, whether to

interrupt, and whether to auto-execute the next PR. P6.003 is subject to change based on the

properties set in P6.002. If P6.002 is set to a Speed command, then P6.003 specifies the target

speed. If P6.002 is set to a Jump command, then P6.003 specifies the target PR. The

parameters for the PR#2 path are P6.004 and P6.005, and they work same way as P6.002 and

P6.003. The same is true for the rest of PR paths. See Figure 7.1.1.

PR path

PR#0

Setting

paramters

Path property

P6.000

Path data

P6.001

PR#1

P6.002

P6.003

PR#2

P6.004

P6.005

7

PR#50

P7.000

P7.001

PR#99

P7.098

P7.099

Figure 7.1.1 Setting parameters for each PR path

7-3

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