Chapter 7 Motion Control ASDA-M
7-18 Revision December, 2014
7.9 Parameter Settings in PR Mode
1) Target speed: P5-60 ~P5-75, 16 PR in total
15 ~ 0 BIT
W0 TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
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
Speed setting of high speed homing
P5-06 2
n
Speed setting of high 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 ~ P7-99, (64 BIT), 99 sets of PR in total
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
speed until it reaches the target speed. After the command is completed, the motor will
remain at the same speed and never stop.
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