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ASDA-A3

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Motion Control

Table 7.1.3.6.1 Bit function of PR Rotary Axis Position command

PR parameters

BIT D

Command type

-

Data Content

Note:

1. Y: OPT: option

BIT

3

C

B

A

U

Z

Y

X

OPT2 DLY

SPD

DEC

ACC

OPT 0xA

Rotary Axis Position command [PUU] (0 to P2.052-1)

2

1

0

Description

Command type

Data Content

DIR

0

0

0

1

1

0

1

1

OVLP

-

INS

-

Always goes forward (Forward)

Always goes backward

-

(Backward)

Shortest distance

-

INS: interrupt command that interrupts the previous motion command.

OVLP: allow overlapping of the next command

2. C: OPT2: Option 2

BIT

3

2

1

0

Command type

-

AUTO

-

S_LOW

S_LOW: speed unit options, 0 stands for 0.1 rpm and 1 for 0.01 rpm.

AUTO: automatically load the next PR command when the current one is complete.

3. Z, U: ACC / DEC: acceleration / deceleration time set by P5.020 - P5.035.

4. A: SPD: delay time, set by P5.060 - P5.075.

5. B: DLY: delay time, set by P5.040 - P5.055.

7

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