ASDA-A2 Table of Contents
x Revision February, 2017
6.5.2 Speed / Torque Dual Mode ............................................................................... 6-50
6.5.3 Torque / Position Dual Mode ............................................................................. 6-51
6.6 Others ...................................................................................................................... 6-52
6.6.1 The Use of Speed Limit ..................................................................................... 6-52
6.6.2 The Use of Torque Limit .................................................................................... 6-52
6.6.3 Analog Monitor .................................................................................................. 6-53
6.6.4 The Use of Brake .............................................................................................. 6-57
Chapter 7 Motion Control ..................................................................................................... 7-1
7.1 Motion Control Functions of ASDA-A2 .................................................................... 7-1
7.2 System Information ................................................................................................. 7-1
7.2.1 Description of Monitoring Variables ................................................................... 7-2
7.2.2 Description of Data Array .................................................................................. 7-8
7.3 Description of Motion Axes ...................................................................................... 7-11
7.4 Description of PR Mode .......................................................................................... 7-12
7.5 The Difference between General PR Mode and the One in ASDA-A2 ................... 7-12
7.6 The Position Unit of PR Mode ................................................................................. 7-13
7.7 Description of Register in PR Mode ........................................................................ 7-13
7.8 Homing Description of PR Mode ............................................................................. 7-15
7.9 DI/DO Provided by PR Mode and Diagrams ........................................................... 7-16
7.10 Parameter Settings .................................................................................................. 7-18
7.10.1 The Relation between the Previous Path and the Next Path ............................ 7-25
7.10.2 Programming the Path in PR Mode ................................................................... 7-26
7.11 The Description of E-Cam Function ........................................................................ 7-27
7.11.1 Function Description of CAPTURE (Data Capture) ........................................... 7-34
7.11.2 Function Description of COMPARE (Data Compare) ........................................ 7-36
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