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ASDA-A3

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Parameters

P2.121

Special bit register 6

Default: 0x00000000

Unit: -

Format: HEX

Settings:

Control mode: All

Address: 02F2H

02F3H

Setting range: 0x00000000 to 0x000001FF

Data size: 32-bit

Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

Bit 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16

Bit

Bit 0

Bit 1

Bit 2

Bit 3

Bit 4

Bit 5

Bit 6

Bit 7

Function

Reserved

Behavior after homing in

communication mode

Definition of the settings for origin

definition (P6.001) and Home offset

(OD 607Ch) in communication mode

Unit of Homing speeds (OD 6099h) in

communication mode

Reserved

Unit selection for Homing speeds (OD

6099h), Homing acceleration (OD

609Ah), Profile acceleration (OD

6083h), and Profile deceleration (OD

6084h) in communication mode

Reserved

Definition of positive / negative

direction when P4.005 (Servo motor

JOG control) controls the motor

through USB / RS-485 communication

Description

-

0: after homing, execute absolute postioning to the

position with the offset distance set in OD 607Ch

1: decelerate to a stop after homing

0: origin definition (P6.001) = - (setting of OD

607Ch)

1: origin definition (P6.001) = OD 607Ch

0: 0.1 rpm

1: 1 rpm

-

0: the unit of OD 6099h is determined by the setting

of P2.121 [Bit 3]. The unit of OD 609Ah, OD 6083h,

and OD 6084h is ms (0 - 3000 rpm).

 When P2.121 [Bit 3] = 0, the unit of OD 6099h

is 0.1 rpm.

 When P2.121 [Bit 3] = 1, the unit of OD 6099h

is 1 rpm.

1: the unit of OD 6099h is PUU/sec. The unit of OD

609Ah, OD 6083h, and OD 6084h is PUU/sec2.

-

0: the same as the direction originally defined

1: in reverse to the direction originally defined

Example:

P4.005

P1.001.Z = 0

P2.121 [Bit 7] = 0

P1.001.Z = 0

P2.121 [Bit 7] = 1

4999

8

4998

Bit 8

Bit 9 - Bit 31

Auto clearing of AL180 and AL185

after the state machine re-enters the

Operational state in EtherCAT mode

Reserved

0: no; manually clear the alarms

1: yes

-

P2.122 -

P2.124

Reserved

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