Introduction of PR Operation ASDA Series Application Note TYPE, OPT: TYPE: 1 ~ 3 accept DO.STP stop and software limit. INS: When executing this PR, it interrupts the previous one. OVLP: Allow the overlap of the next path. The overlap is not allowed in speed mode. When overlap happens in position mode, DLY has no function. AUTO: When PR procedure completes, the next procedure will be loaded in automatically. CMD: Refer to Chapter 7 for PR command description. DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS is invalid. Operational Interface ： Panel / Software Communication Related Section:
7.10 Default ： 0 Control Mode ： PR Unit ： - Range ： -2147483648 ~ +2147483647 Data Size ： 32-bit Format ： DEC Settings ： PATH# 1 Data Property of P6-02; P6-03 corresponds to the target position of P6-02 or jump to PATH_NO. Note: PATH (procedure) The unit of position data in PR mode is PUU. PUU is the position unit that encoder’s original pulse number being converted with E-gear ratio through the servo drive. For example, the resolution of ASDA-A2 is 1280000 pulse/rev, if E-gear ratio is 128:10 (P1-44=128 / P1-45=10), the PUU for an ASDA-A2 motor to make one full rotation is 1280000*(10/128) = 100000 PUU.
the same, which means no conversion is needed here and it is easy to be read and compared. The best thing about using this method is that the unit of commands, errors, and feedback are 1-12 March, 2015 OPT TYPE 7 6 5 4 BIT 3 ~ 0 BIT - UNIT 22AUTO INS 1: SPEED, Speed setting control 2: SINGLE, Positioning control. It will load in the next path when finished. CMD OVLP 2INS 3: AUTO positioning control. It will load in the next path when finished. - - - INS 7: JUMP to the specified path 8: Write the specified parameter to the - - AUTO INS specified path 24DLY (4) Index P5-40 ~ P5-55 Address:
0606H P6-03 PDAT1 PATH# 1 Data 0607H .31 ~ .27 ~ .23 .19 ~ .15 ~ 11 ~ 8 7 ~ 4 3 ~ 0 28 24 ~20 16 12 DATA (32-bit)