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Motion Control

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ASDA-A3

7

Position command

You can use the Position command in any PR paths (PR#1 - PR#99). It is marked as “Position”,

and includes the options to “Stop once position control completed” and “Load the next path

once position control completed”. The only difference is that “Load the next path once position

control completed” shows an arrow pointing to the next PR. See Figure 7.1.4.4.

PR#1 (I)(O)

Position

DLY=[0] 0 ms

100000 PUU

ABS

200rpm

Acc=[0] 6.67 ms

Dec=[0] 6.67 ms

(1) PR#1 (I)(O)

Position

(2) DLY=[0] 0 ms

(3) 100000 PUU

(4)

ABS

(5)

200rpm

(6) Acc=[0] 6.67 ms

(7) Dec=[0] 6.67 ms

Figure 7.1.4.4 Position command display

(1) Command execution type (property): a Position command can interrupt (INS) the previous

PR path. If the Interrupt function is enabled, it displays (I); if not, no information is

displayed. The Position command can overlap (OVLP) the next PR path. Set the delay

time to 0 when you use the Overlap function. If the Overlap function is used, it displays

(O); if not, no information is displayed.

(2) Delay time (DLY): determined by shared PR parameters. It is defined by a command from

the controller. The servo drive starts counting the delay time once the motor reaches the

target position.

(3) Target position: the set target position.

(4) Position command type: “ABS” means absolute positioning; “REL” means relative

positioning; “INC” means incremental positioning; “CAP” means high-speed position

capturing.

(5) Target speed: determined by shared PR parameters.

(6) Acceleration time (ACC): determined by shared PR parameters; length of time to reach the

target speed from stopped.

(7) Deceleration time (DEC): determined by shared PR parameters; length of time to

decelerate from target speed to stopped.

7-42

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