Delta ASDA-A3 Series User Manual page 684

ASDA-A3
Adjustment method:
It is suggested to set the SYNC communication cycle (OD 1006h) between 1 ms and 10 ms.
Since the cycle time is too long, the position error also increases. If the position change is big,
it causes speed fluctuations. In this case, use P1.036 (S-curve acceleration / deceleration
constant) or P1.068 (Position command - Moving filter) to smooth the position difference.
Since the jitter of each controller is different, the servo receives a difference between the SYNC
and SYNC communication cycle time. When this happens, adjust the error value (T) of P3.009
to increase the error range and let the servo drive automatically correct the internal timer so it is
consistent with the communication cycle of the controller.
Relevant object list
Index
6040h
6041h
6060h
6061h
6093h
60C0h
60C1h
Note: for more details, refer to Section 12.4.3 Details of objects.
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position factor
Interpolation sub mode select
Interpolation data record
CANopen Mode
Type Property
UNSIGNED16 RW
UNSIGNED16 RO
INTEGER8 RW
INTEGER8 RO
UNSIGNED32 RW
INTEGER16 RW
ARRAY RW
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