Delta Electronics none manual Position Control Mode Pr Mode, „ Relevant Parameters Description

Chapter 12 Application Examples ASDA-AB Series

12.5 Position Control Mode (Pr Mode)

„Relevant Parameters Description

Parameter	Communication	Parameter Description
	Address
P1-01	0101H	Control Mode and Output Direction
		001: Forward torque in Pr mode
		101: Reverse torque in Pr mode
P1-33	0121H	Position Control Mode (Pr)
		0: Absolute position command
		1: Incremental position command
P1-34	0122H	Acceleration Time
		1st to 3rd step Acceleration time (When parameter P1-36 is set to 0,
		accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1-35	0123H	Deceleration Time
		1st to 3rd step Deceleration time (When parameter P1-36 is set to 0,
		accel / decel function is disabled, i.e. P1-34, P1-35 is disabled)
P1-36	0124H	Accel /Decel S-curve
		When parameter P1-36 is set to 0, accel / decel function is disabled,
		i.e. P1-34, P1-35 is disabled.
P1-44	012CH	Electronic Gear Ratio (1st Numerator) (N1)
		If the electronic gear deceleration ratio is 1/75, set numerator to 75
P1-45	012DH	Electronic Gear Ratio (Denominator)
P1-47	012FH	Homing Mode
		202: When (MD1, MD0)=(OFF, ON), Forward Homing
		203: When (MD1, MD0)=(OFF, ON), Reverse Homing
P1-50	0132H	Homing Offset Rotation Number
P1-51	0133H	Homing Offset Pulse Number
		Total homing offset pulse number =P1-50 x 10000 + P1-51

The following table indicates the position command registers and the corresponding moving speed registers.

Positioning Point	Position Command Register	Moving Speed Register
P1	( P1-15, P1-16 )	P2-36 (V1)
P2	( P1-17, P1-18 )	P2-37 (V2)
P3	( P1-19, P1-20 )	P2-38 (V3)
P4	( P1-21, P1-22 )	P2-39 (V4)
P5	( P1-23, P1-24 )	P2-40 (V5)
P6	( P1-25, P1-26 )	P2-41 (V6)
P7	( P1-27, P1-28 )	P2-42 (V7)
P8	( P1-29, P1-30 )	P2-43 (V8)

Revision March 2008, Doc. Name: 2007PDD23000011 12-11