ASDA-A2 Chapter 7 Motion Control
7-18 Revision February, 2017
7.10 Parameter Settings
1) Target speed: P5-60 ~ P5-75, 16 PR in total
Bit 15 ~ 0-bit
W0 TARGET_SPEED: 0.1 ~ 6000.0(r/min)
2) Accel / Decel time: P5-20 ~ P5-35, 16 PR in total
Bit 15 ~ 0
W0 T_ACC / T_DEC: 1 ~ 65500 (msec)
Note: The deceleration time used by DI: STP/EMS/NL(CWL)PL(CCWL) is defined via P5-07.
3) Pause time: P5-40 ~ P5-55, total 16 PR in total
Bit 15 ~ 0
W0
IDLE：0 ~ 32767(msec)
4) PR parameters: 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
st
Speed setting of high speed homing
P5-06 2
nd
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)
Bit 31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0
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.
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