Delta ASD-A2 Series User Manual page 220

Chapter 7 Motion Control
Name of Variables /
Code
Attribute
091
The feedback of
indexing coordinate
(5Bh)
Firmware version
Dec
096
(60h)
PLC scan time
098
(62h)
The amount of data
109
array
(6Dh)
Error code of the servo
111
drive
(6Fh)
CANopen SYNC TS
112
(hasn't been through
(70h)
the filter)
CANopen SYNC TS
113
(has been through the
(71h)
filter)
CANopen
114
timing synchronization
(72h)
The differential
116
between position and
Z phase of auxiliary
(74h)
encoder (pulse)
DMCNET connection
120
status
(78h)
The PDO packet of
DMCNET is lost
121
during transmission
(79h)
The returned value
123
when monitoring via
(7Bh)
panel
Revision February, 2017
The immediate feedback position of indexing coordinates.
The unit is PUU (user unit).
It includes two versions, DSP and CPLD.
When monitoring via panel, pressing the SHF Key can
switch the display of both:
DSP shows no decimal point while CPLD shows one.
When reading through communication (parameter
mapping):
Low-16 Bit (Low WORD) returns DSP version number.
High-16 Bit (High WORD) returns CPLD version number.
The update time of DI/DO. The unit is 0.5 msec.
Returns the amount of data array. The unit is DWORD (32
Bits)
Error code of the servo drive: only for the control loop, not
including the motion controller.
The time the servo
(TimeStamp)
The unit is usec.
The time the servo drive receives SYNC signal and has
been through the filter. The unit is usec.
To synchronize the device timing with the controller during
the operation. The unit is usec.
The differential between the current position and Z phase
position of auxiliary encoder
(It is applicable to A2-F)
DMCNET connection status (It is applicable to A2-F, A2-N)
Accumulative number of the lost DMCNET PDO packet (It
is applicable to A2-F, A2-N)
Format: chAchB | chB | chA
For example, 459010 = 0x070102
chB = 1, chA = 2
error error
The returned value when monitoring via panel
Description
drive receives SYNC
chAchB
ASDA-A2
signal
= 7,
error
7-7