Delta ASDA-A3 Series User Manual page 628

ASDA-A3
P1.011
Default: 3000
0.1 rpm (rotary)*
Unit:
1 μm/s (linear)*
Format: DEC
Internal Speed command: 120 = 12 rpm (rotary)*; 120 = 12 μm/s (linear)*
Internal speed limit: positive and negative values are identical. Refer to the following
Example:
descriptions.
Settings:
Internal Speed command 3: third internal Speed command.
Internal speed limit 3: third internal speed limit.
Example of internal speed limit:
Speed limit value
of P1.011
1000
-1000
Note: rotary means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet
synchronous linear motor.
P1.012
Default: 100
Unit: %
Format: DEC
Settings:
Internal Torque command 1: first internal Torque command.
Internal torque limit 1: first internal torque limit.
1. When P2.112 [Bit 14] = 0 (the torque is in units of 1%):
Internal Torque command: 35 = 35%
Internal torque limit: positive and negative values are identical. Refer to the following descriptions.
Example of internal torque limit:
Torque limit value
of P1.012
35
-35
2. When P2.112 [Bit 14] = 1 (the torque is in units of 0.1 %):
Internal Torque command: 35 = 3.5%
Internal torque limit: positive and negative values are identical. Refer to the following descriptions.
Internal Speed command 3 / internal speed limit 3
Valid speed range
-100 to +100 rpm (rotary)*
-1000 to +1000 μm/s (linear)*
Internal Torque command 1 / internal torque limit 1
Valid torque range
-35% to +35%
S / Sz: internal Speed command 3
Control mode:
T / Tz: internal speed limit 3
-75000 to +75000 (rotary)*
Setting range:
-15999999 to +15999999 (linear)*
Data size: 32-bit
Speed limit in forward
direction
100 rpm (rotary)*
1000 μm/s (linear)*
T / Tz: internal Torque command 1
Control mode:
PT / PR / S / Sz: internal torque limit 1
Setting range: -5000 to +5000
Data size: 16-bit
Torque limit in forward
direction
35%
Parameters
Address: 0116H
0117H
Speed limit in reverse
direction
-100 rpm (rotary)*
-1000 μm/s (linear)*
Address: 0118H
0119H
Torque limit in reverse
direction
-35%
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