Delta ASDA-A3 Series User Manual page 411

Parameters
P1.016■
Default:
Unit:
8
Format:
Settings:
When the synchronous Capture axis is enabled and you want to change the error pulse amount (P5.079),
use this parameter to write the offset value.
Write P1.016: P5.079 = P5.079 + Write value
Read P1.016: read value = P5.079
Note: the setting value of this parameter is accumulative, which is not affected by the current error amount.
P1.017
Default:
Unit:
Format:
Settings:
When the following error compensation function is enabled (P1.036 = 1), the servo calculates the
compensation amount according to the command and adjusts the position error (PUU) close to 0.
If this is unable to accomplish by setting the position feed forward gain (P2.002) and position integral
compensation (P2.053), set the additional compensation time to compensate the error amount.
Additional compensation distance = P1.017 x Motor speed
Note: enable the following error compensation function (P1.036 = 1) to use the additional compensation function.
P1.018
Default:
Unit:
Format:
Settings:
During the operation of the E-Cam, if the mechanical factor is excluded, but the following error still exists,
which may be error caused by the electrical delay. Set the compensation pulse number of the master
axis to correct the E-Cam phase. If the compensation time is set to 0, it is not compensated.
Compensation pulse = P1.018 x (Pulse frequency of the E-Cam master axis (Kpps) - P1.021 (Minimum
frequency of pulse compensation for the E-Cam master axis))
Note: monitor the pulse frequency of the E-Cam master axis (Kpps) with the monitoring variable 060 (3Ch).
8-38
E-Cam: error offset compensation for synchronous
Capture axis
0
Pulse unit of master axis
DEC
Additional compensation time for the following error
0
ms (minimum scale is μs)
DEC
E-Cam: compensation time for the pulse of E-Cam master
axis
0
ms (minimum scale is μs)
DEC
Control mode: PR
Setting range: -32768 to +32767
Data size: 16-bit
Control mode: PR
-25.000 to +25.000
Setting range:
(includes 3 decimal places)
Data size: 16-bit
Control mode: PR
-25.000 to +25.000
Setting range:
(includes 3 decimal places)
Data size: 16-bit
ASDA-A3
Address: 0120H
0121H
Address: 0122H
0123H
Address: 0124H
0125H