Delta ASDA-A3 Series User Manual page 1055

EtherCAT Mode

X: unit selection for Target velocity (OD 60FFh) and Velocity actual value (OD 606Ch) when in the
PV (Profile Velocity) mode or CSV (Cyclic Synchronous Velocity) mode
13
0: 0.1 rpm
1: pulse/sec

Z: AL185 communication disconnection detection setting

C: unit selection for the maximum speed of OD 607Fh and OD 6080h
P3.022
Default: 0xFF04
Format: HEX
Settings:
When using the PDO to transmit data periodically, use this parameter to set the timeout setting.
The following two sets of digits specify the trigger conditions for AL180 and AL3E3 respectively to
ensure that the servo drive receives the PDO. When one of the alarm occurs, it means the allowable
duration for packet loss exceeds the set range.
Digit
Function
Range

YX: AL3E3 trigger condition (allowable cycle for elapsed time); applicable to CSP / CSV / CST
mode.
AL3E3 occurs when the servo drive does not receive the PDO within the set cycle.
When the communication cycle is 4 ms and you set this parameter to 0x02 (allow two cycles),
it means if the servo drive does not receive any PDO within 8 ms, AL3E3 occurs.

UZ: AL180 trigger condition (allowable duration for elapsed time); applicable to all operation
modes.
AL180 occurs when the servo drive does not receive the PDO within the set duration (unit: ms).
For example, when you set P3.022.UZ to 0x01, the duration is 1 ms; when you set P3.022.UZ to
0x02, the duration is 2 ms; and when you set P3.022.UZ to 0xFF, the duration is 255 ms.
13-10
0: disconnection detection starts after EtherCAT communication enters OP state.
1: disconnection detection starts after EtherCAT communication enters Init state.
2: disable disconnection detection.
Note: when using the ring topology connection, set P3.018.Z to 2 to disable the disconnection detection.
0: 0.1 rpm for OD 607Fh and rpm for OD 6080h.
1: pulse/sec for OD 607Fh and OD 6080h.
EtherCAT PDO timeout setting
Unit: -
AL180 trigger condition
0x00 (disabled) - 0xFF (default)
Control mode: EtherCAT
Setting range: 0x0002 - 0xFF14
Data size: 16-bit
UZ
Address: 032CH
032DH
YX
AL3E3 trigger condition
0x02 - 0x14
ASDA-A3