Delta ASD-A2 Series User Manual page 218

Chapter 7 Motion Control
Name of Variables /
Code
Attribute
035
Indexing coordinate
command
(23h)
037 Compare data of
(25h) COMPARE
038
Voltage level of battery
(26h)
DI status (Integrated)
039
(27h)
Hex
DO status (Hardware)
040
(28h)
Hex
041
Drive Status
(29h)
043
CAP, data capturing
(2Bh)
048
Auxiliary encoder CNT
(30h)
049
Pulse command CNT
(31h)
Speed command
050
(processed)
(32h)
D1 Dec
Speed feedback
051
(immediate)
(33h)
D1 Dec
Speed feedback (filter)
052
(34h)
D1 Dec
Torque command
053
(processed)
(35h)
D1 Dec
Torque feedback
054
(36h)
D1 Dec
Electric current
055
feedback
(37h)
D2 Dec
DC Bus voltage
056
(38h)
D1 Dec
Pulse from E-Cam
059
master axis
(3Bh)
(accumulation)
Revision February, 2017
The current command of the indexing coordinates. The unit
is PUU (user unit).
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.
The processed DI status of the servo drive. Each bit
corresponds to one DI channel.
The source includes hardware channel / software P4-07
which is determined by P3-06.
The real status of Digital Output hardware. Each bit
corresponds to one DI channel.
Return the value of P0-46. Please refer to the description of
the parameter.
The Data captured by CAP hardware from the latest time
Note: CAP could continuously capture many points.
The value of pulse counter from auxiliary encoder (CN5)
The value of pulse counter from pulse command (CN1)
The processed speed command. The unit is 0.1 r/min.
The source might be analog, register or position loop.
Current actual speed of the motor. The unit is 0.1 r/min.
Current actual speed of the motor. The unit is 0.1 r/min.
The processed torque command. The unit is 0.1 percent
(%).
The source might be analog, register or speed loop.
Current actual torque (force) of the motor. The unit is 0.1
percent (%).
Current actual electric current of the motor. The unit is 0.01
ampere (Amp).
Capacitor voltage after rectification. The unit is 0.1 volt.
The accumulative pulse number of E-Cam master axis. It is
the same as P5-86. A2L does not support this function.
Description
ASDA-A2
7-5