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ASDA-A3

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Motion Control

7.1.3.3 Position command

The PR mode includes a position control function. There are two command types: Mode 2 and

Mode 3. In Mode 2 the command signifies that it stops once the command is complete. 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 7.1.3.3.1.

 INS is an interrupt command that interrupts the previous motion command.

 OVLP is an overlap command that allows the next PR command to overlap the current

command which is decelerating. If you use this function, setting the delay time to 0 is

suggested (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 duration for accelerating

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 from the controller; in other words, once the target position is reached, the servo

drive starts counting the delay time. The Position command is user-defined and its unit is

PUU.

See Figure 7.1.3.3.2 for the effects of the parameters for the PR mode position control. Table

7.1.3.3.1 shows the bit function when position control is in operation.

Figure 7.1.3.3.1 PR mode Position control screen in ASDA-Soft

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