Chapter 7 Motion Control ASDA-A2R Series7-18 Revision December, 20147.10 Parameter Settings in PR Mode1) Target speed: P5-60 ~P5-75, 16 PR in totalRotary Motor:32 ~ 0 BITW0 TARGET_SPEED: 0.1 ~ 6000.0 (r/min)Linear Motor:32 ~ 0 BITW0 TARGET_SPEED: 1 ~ 15999999 ( 610 )2) Acceleration / Deceleration time: P5-20 ~ P5-35, 16 PR in total15 ~ 0 BITW0 T_ACC / T_DEC: 1 ~ 65500 (msec)3) Pause time: P5-40 ~ P5-55, 16 PR in total15 ~ 0 BITW0 IDLE: 0 ~ 32767 (msec)4) PR parameter: P5-00 ~ P5-09, P6-00 ~ P6-01, 12 DWORD in total32 BITP5-00 ReservedP5-01 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 protectionP5-04 Homing modeP5-05 1st Speed setting of high speed homingP5-06 2nd Speed setting of low speed homingP5-07 PR command registerP5-08 Forward software limitP5-09 Reverse software limitP6-00 Homing settingP6-01 Origin definitionNote: 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 BITDW0 … … … … … … … TYPEDW1 DATA (32 bit)Each PR has two parameters, the PR function is determined by TYPE. DATA representsposition or speed data while the others are the additional information.6) SPEED, Constant speed control: TYPE = 131 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8 7 ~ 4 3 ~ 0 BITDW0 - - DLY - DEC ACC OPT 1DW1 DATA (32 bit): Target Speed ; Unit is defined by OPT.UNITWhen this command is executing, the motor accelerates or decelerates from the current
