Delta ASDA-A2 Series User Manual page 238

Chapter 7 Motion Control Functions
Monitoring Variables /
Code
Attribute
Synchronous Capture
081
Axis – Pulse input
(51h)
increment
Synchronous Capture
084
Axis – Synchronous
(54h)
error pulse number
096 Firmware version of
(60h) servo drive
098
PLC scan time
(62h)
109
Data array capacity
(6Dh)
111
Servo fault code
(6Fh)
CANopen
112 synchronous time
(70h) (Low-pass filter is not
used)
CANopen
113 synchronous time
(71h) (Low-pass filter is
used)
CANopen
114
synchronous timing
(72h)
correction
123
Keypad monitor value
(7Bh)
Revision September 2012
When Synchronous Capture Axis is enabled, it is the
received pulses between two capture operation and it
can be used to measure the actual mark distance.
When Synchronous Capture Axis is enabled, it is the
accumulated errors between actual output pulse and
target pulse. After the synchronization operation is
completed, this value will be near to zero (0).
Includes 2 versions: DSP and CPLD
When reading the firmware version through the keypad,
pressing SHIFT key can switch the version display of DSP
and CPLD.
DSP: no decimal place; CPLD: it will display one decimal
place.
Dec
When reading the firmware version through the
communication (using mapping parameters):
Low 16-bit (Low Word) will display DSP firmware version.
High 16-bit (High Word) will display CPLD firmware
version.
It is regarded as the refresh time of digital inputs and
outputs.
Unit is 0.5msec.
Display the capacity of data array. Unit is DWORD (32-
bit).
Display servo fault code. But it only displays the servo
drive fault code. The fault code for motion control will
not be displayed.
Display the time when the servo drive receives
synchronous signal (TimeStamp).
Unit is usec.
Display the time when the servo drive receives
synchronous signal and low-pass filter is used.
Unit is usec.
When CANopen communication is enabled, display the
timing correction value which is synchronized with the
host (external) controller.
Unit is usec.
When reading the monitor value through the keypad, it
is used to read the monitor value displayed on the
keypad.
Explanation
A2
ASDA-
7-7