Parameter Settings Of Ethercat Mode - Delta ASDA-A3 Series User Manual

EtherCAT Mode

13.1.3 Parameter settings of EtherCAT mode

Follow these instructions to connect the EtherCAT controller and the ASDA-A3 servo drive:
13
1. Set to EtherCAT mode: set P1.001.YX to 0C.
2. Set the slave station number: set P3.000 to 0x0001 - 0x007F.
3. It is suggested that you change the setting value of P3.012.Z from 0 (default) to 1 to enable
the non-volatile setting for the parameter. Note that the default E-Gear ratio varies with the
set value of P3.012.Z.
S-curve acceleration
Zero speed range
(DO.SP_OK) range
Accumulated time to
reach desired speed
Maximum speed limit
Excessive deviation
warning condition of
Position command
Positive software limit
(PP / CSP / CSV / CST
Negative software limit
(PP / CSP / CSV / CST
Note: rotary means a permanent-magnet synchronous rotary motor;
13-8
Settings
Servo
parameter
Motor stop mode P1.032
P1.034
constant
P1.038
E-Gear ratio -
P1.044
numerator N1
E-Gear ratio -
P1.045
denominator M
Speed reached
P1.047
P1.049
P1.055
P2.035
P5.008
mode)
P5.009
mode)
Origin definition
P6.001
(HM mode)
linear means a permanent-magnet synchronous linear motor.
P3.012 = 0x0100 (Z = 1)
Default
0x0000
200
100
(rotary*: 0.1 rpm;
linear*: 0.1 mm/s)
16777216
100000
10
(rotary*: rpm;
linear*: mm/s)
0
Depending on the
motor
(rotary*: 1 rpm;
linear*: 1 mm/s)
50331648
2147483647
-2147483648
0
P3.012 = 0x0000 (Z = 0)
OD
Default
address
605Bh 0
6087h 200
100
606Fh
(0.1 rpm)
6093h
1
sub1
6093h
1
sub2
100
606Dh
(0.1 rpm)
606Eh 0
Depending on the motor
607Fh
(0.1 rpm)
Depending on the motor
6080h
(rpm)
6065h 50331648
607Dh
2147483647
sub2
607Dh
-2147483648
sub1
607Ch 0
ASDA-A3