Delta ASDA-A3 Series User Manual page 435

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Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087).

For example: set P1.087 to 50%, then the maximum torque output of the motor is 60%.

The setting of the torque level reached timer for the torque homing mode. If the motor torque output

continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is

complete. Refer to P1.087 for the timing diagram of torque homing mode.

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 enabling the low-frequency analysis option is needed. For details, refer to the

ASDA-Soft software instructions.

Vibration elimination takes effect only when the two dimensional control function P2.094 [Bit 12] is

enabled. After enabling the two dimensional control function, turn on the first set of vibration elimination

with P2.094 [Bit 8] and the second set with P2.094 [Bit 9].

Torque level

detection P1.087

Torque curve when

searching for the

collision point

Torque curve

when searching for

Torque homing - level reached timer

First set of vibration elimination - anti-resonance frequency

Level reached timer P1.088

Maximum torque output

Starting point

Control mode: PR

Setting range: 2 - 2000

Control mode: PT / PR

Setting range: 10 - 4000

Address: 01B0H

Address: 01B2H

Troubleshooting

Ecm-a3 series