ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-225
P6-xx PR Parameters (Please refer to Chapter 7 for detailed setting)
P6-00 ODEF Homing Definition
Address: 0600H
0601H
Operational
Interface
Panel / Software Communication
Related Section;
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0x10FFFF3F
Data Size
32-bit
Format
Hexadecimal
Settings
Homing definition:
.31 ~
28
.27 ~
24
.23
~20
.19 ~
16
.15 ~
12
11 ~ 8 7 ~ 4 3 ~ 0
BOOT - DLY - DEC1 ACC PATH
PATH: Path type (64-bit)
0: Stop: Homing complete and stop
1 ~ 3F: Auto: Homing complete and execute the specified path
(Path#1 ~ Path#63)
ACC: Select 0~F for acceleration time and corresponds to
P5-20~P5-35.
DEC1: The deceleration time selection of 1
st
homing, the setting
value of DEC is 0~F and corresponds to P5-20 ~ P5-35.
DLY: Select 0~F for the delay time and corresponds to P5-40 ~ P5-55
BOOT: When the servo drive applies to the power, if it will be executed
searching the origin.
0: Do not do homing
1: Execute homing automatically (SRV ON for the first time
after applying to power)
Apart from the above mentioned definition, the related setting of
homing also includes:
1. P5-04 Homing mode
2. P5-05 ~ P5-06 Speed setting of searching the origin
3. P6-01: ORG_DEF is the location of the origin. It may not be 0. This
function is the offset of coordinate system.
A. After the origin is found (Sensor or Z); it has to decelerate to stop.
The stop position will exceed the origin for a short distance.
Chapter 8 Parameters ASDA-A2
8-226 Revision February, 2017
If it does not return to the origin, set PATH to 0.
If it needs to return to the origin, set PATH to non-zero value and
set PABS = ORG_DEF.
B. If the origin is found (Sensor or Z), desire to move an offset S and
define the coordinate as P after moving, then PATH = non-zero and
set ORG_DEF = P-S. The absolute position command = P.
P6-01 ODAT Origin Definition
Address: 0602H
0603H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Value of origin definition:
.31 ~
28
.27 ~
24
.23
~20
.19 ~
16
.15 ~
12
11 ~ 8 7 ~ 4 3 ~ 0
ORG_DEF (32-bit)
P6-02 PDEF1 PATH#1 Definition
Address: 0604H
0605H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-227
Settings
Properties of PATH# 1:
.31 ~
28
.27 ~
24
.23 ~
20
.19 ~
16
.15 ~
12
11
~ 8
7 ~ 4 3 ~ 0
P6-02 - - DLY - - - OPT TYPE
P6-03 DATA (32 bit)
TYPE, OPT:
OPT TYPE
7 6 5 4 BIT 3 ~ 0 BIT
- UNIT
22AUT
O
INS 1: SPEED, Speed setting control
CMD OVLP 2INS
2: SINGLE, Positioning control. It will
load in the next path when finished.
3: AUTO positioning control. It will load
in the next path when finished.
- - - INS 7: JUMP to the specified path
- - AUTO INS
8: Write the specified parameter to the
specified path
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.
24DLY (4) Index P5-40 ~ P5-55
P6-03 PDAT1 PATH# 1 Data
Address: 0606H
0607H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Chapter 8 Parameters ASDA-A2
8-228 Revision February, 2017
Settings
PATH# 1 Data
.31 ~
28
.27 ~
24
.23
~20
.19 ~
16
.15 ~
12
11 ~ 8 7 ~ 4 3 ~ 0
DATA (32 bit)
Property of P6-02; P6-03 corresponds to the target position of P6-02 or
jump to PATH_NO.
NOTE
PATH (procedure)
P6-04 PDEF2 PATH# 2 Definition
Address: 0608H
0609H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02
P6-05 PDAT2 PATH# 2 Data
Address: 060AH
060BH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-229
P6-06 PDEF3 PATH# 3 Definition
Address: 060CH
060DH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-07 PDAT3 PATH# 3 Data
Address: 060EH
060FH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-08 PDEF4 PATH# 4 Definition
Address: 0610H
0611H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Chapter 8 Parameters ASDA-A2
8-230 Revision February, 2017
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-09 PDAT4 PATH# 4 Data
Address: 0612H
0613H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-10 PDEF5 PATH# 5 Definition
Address: 0614H
0615H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-231
P6-11 PDAT5 PATH# 5 Data
Address: 0616H
0617H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-12 PDEF6 PATH# 6 Definition
Address: 0618H
0619H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-13 PDAT6 PATH# 6 Data
Address: 061AH
061BH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Chapter 8 Parameters ASDA-A2
8-232 Revision February, 2017
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-14 PDEF7 PATH# 7 Definition
Address: 061CH
061DH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-15 PDAT7 PATH# 7 Data
Address: 061EH
061FH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-233
P6-16 PDEF8 PATH# 8 Definition
Address: 0620H
0621H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-17 PDAT8 PATH# 8 Data
Address: 0622H
0623H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-18 PDEF9 PATH# 9 Definition
Address: 0624H
0625H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Chapter 8 Parameters ASDA-A2
8-234 Revision February, 2017
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-19 PDAT9 PATH# 9 Data
Address: 0626H
0627H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-20 PDEF10 PATH# 10 Definition
Address: 0628H
0629H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-235
P6-21 PDAT10 PATH# 10 Data
Address: 062AH
062BH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03
P6-22 PDEF11 PATH# 11 Definition
Address: 062CH
062DH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-23 PDAT11 PATH# 11 Data
Address: 062EH
062FH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Chapter 8 Parameters ASDA-A2
8-236 Revision February, 2017
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-24 PDEF12 PATH# 12 Definition
Address: 0630H
0631H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-25 PDAT12 PATH# 12 Data
Address: 0632H
0633H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-237
P6-26 PDEF13 PATH# 13 Definition
Address: 0634H
0635H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
P6-27 PDAT13 PATH# 13 Data
Address: 0636H
0637H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-28 PDEF14 PATH# 14 Definition
Address: 0638H
0639H
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Chapter 8 Parameters ASDA-A2
8-238 Revision February, 2017
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-03.
P6-29 PDAT14 PATH# 14 Data
Address: 063AH
063BH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-30 PDEF15 PATH# 15Definition
Address: 063CH
063DH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0x00000000
Control
Mode
PR
Unit
-
Range
0x00000000 ~ 0xFFFFFFFF
Data Size
32-bit
Format
Hexadecimal
Settings
Please refer to the description of P6-02.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-239
P6-31 PDAT15 PATH# 15 Data
Address: 063EH
063FH
Operational
Interface
Panel / Software Communication
Related Section:
7.10
Default
0
Control
Mode
PR
Unit
-
Range
-2147483648 ~ +2147483647
Data Size
32-bit
Format
Decimal
Settings
Please refer to the description of P6-03.
P6-32 PDEF16 PATH# 16 Definition
Address: 0640H
0641H
Operational
Interface
Panel / Software Communication
Related Section: