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Chapter 5 Trial Run and Tuning Procedure|ASDA-AB Series
5-12 Revision January 2009
The position command is selected by POS0 ~ POS2. Please refer to the following table:
Position
Command
POS2 POS1 POS0 CTRG Parameters
Moving Speed
Register
Description
P1-15 Rotation No. (+/- 30000)
Internal
Position 1
0 0 0
P1-16
P2-36 (V1)
Pulse No. (+/- max cnt)
P1-17 Rotation No. (+/- 30000)
Internal
Position 2
0 0 1
P1-18
P2-37 (V2)
Pulse No. (+/- max cnt)
P1-19 Rotation No. (+/- 30000)
Internal
Position 3
0 1 0
P1-20
P2-38 (V3)
Pulse No. (+/- max cnt)
P1-21 Rotation No. (+/- 30000)
Internal
Position 4
0 1 1
P1-22
P2-39 (V4)
Pulse No. (+/- max cnt)
P1-23 Rotation No. (+/- 30000)
Internal
Position 5
1 0 0
P1-24
P2-40 (V5)
Pulse No. (+/- max cnt)
P1-25 Rotation No. (+/- 30000)
Internal
Position 6
1 0 1
P1-26
P2-41 (V6)
Pulse No. (+/- max cnt)
P1-27 Rotation No. (+/- 30000)
Internal
Position 7
1 1 0
P1-28
P2-42 (V7)
Pulse No. (+/- max cnt)
P1-29 Rotation No. (+/- 30000)
Internal
Position 8
1 1 1
P1-30
P2-43 (V8)
Pulse No. (+/- max cnt)
0: indicates OFF (Normally Open); 1: indicates ON (Normally Closed)
The users can set the value of these 8 groups of commands (P1-15 ~ P1-30) freely. The command can be
absolute position command (P1-33 =0) or relative position command (P1-33 =1).
For example:
Set P1-33 to 1 (Absolute position command)
(The new setting will be effective after the servo drive is restarted (after switching power
off and on))
Set P1-15 to 1 (rotation number)
Set P1-16 to 0 (pulse number)
The command of internal position 1: P1-15 Rotation No. + P1-16 Pulse No.
Set P1-17 to 10 (rotation number)
Set P1-18 to 0 (pulse number)
The command of internal position 2: P1-17 Rotation No. + P1-18 Pulse No.
Set P1-19 to -10 (rotation number)
Set P1-20 to 0 (pulse number)
The command of internal position 3: P1-19 Rotation No. + P1-20 Pulse No.
Set P1-21 to 100 (rotation number)
Set P1-22 to 0 (pulse number)
The command of internal position 4: P1-21 Rotation No. + P1-22 Pulse No.
Set P1-23 to -1000 (rotation number)
Set P1-24 to 0 (pulse number)
The command of internal position 5: P1-23 Rotation No. + P1-24 Pulse No.