Delta ASD-A2 Series User Manual page 216

Chapter 7 Motion Control
Explanation of monitoring variables :
Name of Variables /
Code
Attribute
000 Feedback position
(00h) (PUU) B
001 Position command
(01h) (PUU) B
002 Position deviation
(02h) (PUU) B
003 Feedback position
(03h) (pulse) B
004 Position command
(04h) (pulse) B
005 Position deviation
(05h) (pulse) B
006 Pulse command
(06h) frequency
Speed feedback
007
(07h)
B D1 Dec
Speed command
008
(analog)
(08h)
B D2 Dec
009
Speed command
(processed)
(09h)
Torque command
010
(analog)
(0Ah)
B D2 Dec
011 Torque command
(0Bh) (processed)
012
Average load
(0Ch)
013
Peak load
(0Dh)
014
DC Bus voltage
(0Eh)
Revision February, 2017
The current feedback position of the motor encoder. The
unit is PUU (user unit).
The current coordinate of position command. The unit is
PUU (user unit).
PT mode: it represents the pulse number the servo drive
received.
PR mode: the value of absolute coordinate from position
command
Equals to the pulse number sent by the controller.
The deviation between the position command and feedback
position. The unit is PUU (user unit).
Current feedback position of the motor encoder. The unit is
pulse (encoder unit).
The current coordinate of the position command. The unit is
pulse (encoder unit).
The command that had gone through E-gear.
The deviation between the position command and feedback
position. The unit is pulse (encoder unit).
Frequency of pulse command received by the servo drive.
The unit is Kpps.
B
It is suitable in PT/PR mode.
Current speed of the motor. The unit of rotary motor is 0.1
r/min.
The value is more stable since it has been though low-pass
filter.
The speed command is issued by analog. The unit is 0.01
Volt.
The processed speed command. The source might be
B analog, register or position loop.
The torque command is issued by analog. The unit is 0.01
Volt.
The processed torque command. The unit is percentage
(%).
B
The source might be analog, register or speed loop.
Average load output by the servo drive. The unit is
B
percentage (%).
The maximum load output by the servo drive. The unit is
B
percentage (%).
B Capacitor voltage after rectification. The unit is Volt.
Descriptions
ASDA-A2
7-3