Delta ASDA-A2 Series User Manual page 236

Chapter 7 Motion Control Functions
Monitoring Variables /
Code
Attribute
026
Status monitor #4
(1Ah)
037
Compare data offset
(25h)
038 Voltage level of
(26h) battery
DI status (Integrated)
039
(27h)
Hex
DO status (Hardware)
040
(28h)
Hex
041
Drive Status
(29h)
043
Capture data
(2Bh)
048
Auxiliary encoder CNT
(30h)
049
Pulse command CNT
(31h)
Speed command
050
(Integrated)
(32h)
D1 Dec
Feedback speed
051
(Instant)
(33h)
D1 Dec
Feedback speed
052
(Filter)
(34h)
D1 Dec
Torque command
053
(Integrated)
(35h)
D1 Dec
Feedback Torque
054
(36h)
D1 Dec
Feedback current
055
(37h)
D2 Dec
DC Bus voltage
056
(38h)
D1 Dec
Pulse number of
059
E-Cam master axis
(3Bh)
(Accumulated)
Revision September 2012
Display the content of parameter P0-12 (the monitor
B
status is specified by parameter P0-20).
Display the compare data. This actual compare data is a
compare value plus an offset value via P1-23 and P1-24.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
The voltage level of battery for an absolute encoder.
Integrated DI status. Each bit corresponds to one
channel of digital input.
The command source may be from DI signal or
communication control (upon software). P3-06 can
determine how digital inputs accept commands.
Actual DO output status. Each bit corresponds to one
channel of digital output.
The drive status will display via P0-46. Please refer to P0-
46 for explanation.
The latest captured data by using Capture function.
Note: Using Capture function is able to capture many
positions.
Pulse counts input by auxiliary encoder (CN5).
Pulse counts input by pulse command (CN1).
Integrated speed input command. Unit is 0.1r/min.
The command source may be from analog command /
internal parameter / position loop.
Actual motor speed. Unit is 0.1r/min.
Actual motor speed. Unit is 0.1r/min.
(The low-pass filter function is used.)
Integrated torque command. Unit is 0.1Percent (%).
The command source may be from analog command /
internal parameter / speed loop.
Actual motor torque. Unit is 0.1Percent (%).
Actual motor current. Unit is 0.01ampere (Amp).
Main circuit voltage after rectification. Unit is 0.1Volt.
The accumulated pulse numbers of master axis of
electronic cam. Please refer to P5-86. (ASDA-A2 series L
type models do not provide this function.)
Explanation
A2
ASDA-
7-5