Delta ASD-A2R-1B43 Series User Manual

Chapter 7 Motion Control ASDA-A2R Series
7-18 Revision December, 2014
7.10 Parameter Settings in PR Mode
1) Target speed: P5-60 ~P5-75, 16 PR in total
Rotary Motor:
32 ~ 0 BIT
W0 TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
Linear Motor:
32 ~ 0 BIT
W0
TARGET_SPEED: 1 ~ 15999999 (
6
10

)
2) Acceleration / Deceleration time: P5-20 ~ P5-35, 16 PR in total
15 ~ 0 BIT
W0 T_ACC / T_DEC: 1 ~ 65500 (msec)
3) Pause time: P5-40 ~ P5-55, 16 PR in total
15 ~ 0 BIT
W0 IDLE: 0 ~ 32767 (msec)
4) PR parameter: P5-00 ~ P5-09, P6-00 ~ P6-01, 12 DWORD in total
32 BIT
P5-00 Reserved
P5-01 Reserved (It is for testing only, do not use)
P5-02 Reserved (It is for testing only, do not use)
P5-03 Deceleration time of auto protection
P5-04 Homing mode
P5-05 1
s
t
Speed setting of high speed homing
P5-06 2
n
d
Speed setting of low speed homing
P5-07 PR command register
P5-08 Forward software limit
P5-09 Reverse software limit
P6-00 Homing setting
P6-01 Origin definition
Note: Path (procedure)
5) PR definition: P6-02 ~ P7-27, (64 BIT), 63 sets of PR in total (2N)
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 … … … … … … … TYPE
DW1 DATA (32 bit)
Each PR has two parameters, the PR function is determined by TYPE. DATA represents
position or speed data while the others are the additional information.
6) SPEED, Constant speed control: TYPE = 1
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BIT
DW0 - - DLY - DEC ACC OPT 1
DW1 DATA (32 bit): Target Speed ; Unit is defined by OPT.UNIT
When this command is executing, the motor accelerates or decelerates from the current

Delta ASD-A2R-1B43 Series Specifications

General

Brand	Delta
Model	ASD-A2R-1B43 Series
Category	Servo Drives
Language	English