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ASDA-A3
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Motion Control
Absolute command
(ABS)
60000 PUU
Relative command
(REL)
60000 PUU
Incremental
command (INC)
60000 PUU
High-speed position
capturing (CAP)
60000 PUU
Motor’s current position
(Fb_PUU)
Target
position
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
60000
Target
position
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Motor’s current
position
(Fb_PUU)
Endpoint of
previous command
(Cmd_E)
60000
Target
position
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Capturing
position
60000
Motor’s current
position
(Fb_PUU)
Target
position
0 10000 20000 30000 40000 50000 60000 70000 80000 90000 100000
Figure 7.1.3.3.3 Four types of Position command
7
Table 7.1.3.3.1 Bit functions of PR position control
PR parameters
D
Command type
-
Data Content
Note:
1. Y: OPT: option
BIT
3
C
B
A
U
Z
Y
X
-
DLY
SPD
DEC
ACC
OPT 2 or 3
Target position [PUU]
2
1
0
Description
Command type
Data Content
CMD
0
0
0
1
1
0
1
1
OVLP INS
-
-
-
ABS (absolute positioning)
REL (relative positioning)
INC (incremental positioning)
CAP (high-speed position capturing)
INS: interrupt command that interrupts the previous motion command.
OVLP: allow overlapping of the next command
CMD: Position command selection
2. Z, U: ACC / DEC: acceleration / deceleration time set by P5.020 - P5.035.
3. A: SPD: delay time, set by P5.060 - P5.075.
4. B: DLY: delay time, set by P5.040 - P5.055.
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