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Parameters
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ASDA-A3
8
Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C, 0x1E
DI name
Description
Triggering Control
method mode
PR command selection (1 - 99)
Position
command
POS
6
POS
5
POS
4
POS
3
POS
2
POS
1
POS
0
CTRG
Corres-
ponding
para-
meter
Homing
0
0
0
0
0
0
0
POS0
POS1
POS2
PR#1
0
0
0
0
0
0
1
POS3
…
POS4
POS5
PR#50
0
1
1
0
0
1
0
POS6
PR#51
0
1
1
0
0
1
1
P6.000
P6.001
P6.002
P6.003
Level
… triggered
PR
P6.098
P6.099
P7.000
P7.001
…
…
PR#99
1
1
0
0
0
1
1
P7.098
P7.099
Value: 0x1D
DI name
Description
Triggering
method
ABSE
When DI.ABSE is on, the servo is in absolute mode and can enable the
functions of DI.ABSQ, DI.ABSC, DO.ABSR, and DO.ABSD at the same
time.
Level
When DI.ABSE is on, the functions of DI4, DO2, and DO3 are no longer triggered
the ones assigned by the parameters. The DI4 function will be DI.ABSQ,
DO2 will be DO.ABSR, and DO3 will be DO.ABSD. In addition, the DI
point of DI.ABSC can be assigned by the parameter.
Control
mode
All
Value: 0x1F
DI name
Description
Triggering
method
ABSC
When DI.ABSC is on, the current absolute position of the encoder is set
as the origin definition (P6.001), but this DI is only valid when DI.ABSE
is on.
Note: in communication mode, the origin definition is the setting value of OD
607Ch multiplied by a negative sign.
Rising-
edge
triggered
Control
mode
All
Value: when DI.ABSE is on, the DI.ABSQ from DI4 replaces the DI4 function from P2.013
DI name
Description
Triggering
method
ABSQ
always
input by
DI4
During I/O transmission, the controller sends the handshaking signal.
When DI.ABSQ is off, the controller issues the request; when DI.ABSQ
is on, the controller has processed the ABSD signal. This DI is only valid
when DI.ABSE is on. Refer to Figure 10.3.4.1.1 for a detailed
description.
Rising-
and
falling-
edge
triggered
Control
mode
All
8-270
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