Delta ASDA-A3 Series User Manual page 478

ASDA-A3
The slave synchronizes with the master via SYNC. The definition is as follows:
M: reserved.
D: set the size of deadband (unit: usec). If the deviation between the SYNC arrival time and the target
value does not exceed the deadband, a correction is not needed.
T: target value of SYNC arrival time. The standard value is 500 usec, but you need to take the initial lead
into account.
Target value = 400 + 10 x T. For example, if T = 5, the target value is 450.
E: if the deviation between the SYNC arrival time and the target value is smaller than the range,
it means the synchronization is successful (unit: 10 μs).
P3.010
Default: 0x0000
Unit:
-
Format: HEX
Settings:
Communication protocol is divided into U, Z, Y, and X (hexadecimal):
Digit
Function
Range
Definition is as follows:
X: reserved.
Y: reserved.
Z: torque source limited (only functions in mode B).
0: torque source limited to communication commands.
1: torque source limited to DI commands.
*
U : 0: if PDO error occurs, it must be cleared by DI.ARST.
1: if PDO error disappears, it automatically clears the alarm.
Note: the current firmware does not have this feature. It is expected to have this feature added in the near future.
P3.011
Default: 0x0000
Unit:
-
Format: HEX
Settings:
U Z Y
CANopen / DMCNET protocol
U
PDO alarm is cleared
Torque source limited
automatically or not
0 - 1
CANopen / DMCNET options
X
Control mode: CANopen / DMCNET
Setting range: 0x0000 - 0xFFFF
Data size: 16-bit
Z Y
-
0 - 1
-
Control mode: CANopen / DMCNET
Setting range: Shown as follows
Data size: 16-bit
Parameters
Address: 0314H
0315H
X
-
-
Address: 0316H
0317H
8
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