Delta ASDA-A3 Series User Manual page 314

ASDA-A3
Torque limit
setting P1.087
Torque
curve
Z Pulse
P1.088
Default:
2000
Unit: ms
Format: DEC
Settings:
Set the Torque limit time for Torque limit homing mode. Please refer to P1.087 for the timing diagram of
Torque limit homing mode.
P1.089
Default:
4000
Unit: 0.1 Hz
Format: DEC
Settings:
Anti-resonance frequency for the first set of low frequency vibration elimination.
Use this function in flexible machines with low rigidity. The definition of a flexible machine is one for
which when the target position is reached, due to lack of rigidity, the machine vibrates and needs more
time to become stable. A3 provides two sets of vibration elimination. The first set is P1.089 – P1.091,
and the second set is P1.092 – P1.094. The vibration elimination setting must be obtained through the
system module, and is needed to enable the low-frequency analysis options. For details, please refer to
the ASDA-Soft software instructions.
Vibration elimination takes effect only when you enable the two dimensional control function P2.094 [Bit
12]. After enabling the vibration elimination function, turn on the first set of vibration elimination with
P2.094 [Bit 8] and the second set with P2.094 [Bit 9].
Example:
1. Set P2.094 = 0x11to enable the first set.
2. Set P2.094 = 0x12to enable the second set.
3. Set P2.094 = 0x13to enable the first and second set.
Revision December, 2017
Protector
Torque limit time
Torque limit time
First set of vibration elimination - Anti-resonance
frequency
setting P1.088
Starting
point
Control mode: PR
Setting range: 2 – 2000
Data size: 16-bit
Control mode: PT / PR
Setting range: 10 – 4000
Data size: 16-bit
Parameters
Address: 01B0H
01B1H
Address: 01B2H
01B3H
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