Delta ASDA-A3 Series User Manual page 631

Parameters

YX: range of filter (0 - 95%)
The new correction rate is calculated after the synchronous Capture axis captures the signal. The
filter function is enabled when both the new and previous correction rates are less than the range
(%) set in this parameter. Otherwise, the error is corrected with the new correction rate.
8

Z: filter intensity (0 - F)
When 2^(set value) times of error is captured, the average of the error is used for correction. Set
to 0, and the filter is disabled. When you set the Z value higher, you can avoid drastic correction
and interference caused by the sensor noise, which allows the movement to be more stable.
However, setting this value too high causes the correction to not work properly. The
recommended value is 3.
Example: when the filter intensity is set to 3, the actual filter intensity = 2^3 = 8, which means that
after capturing the error values 8 times, the servo takes the average of the 8 values for the
correction value of the synchronous Capture axis.

U: filter function status (read-only)
P1.016■
Default: 0
Format: DEC
Settings:
When the synchronous Capture axis is enabled and you want to change the offset of the synchronous
axis (P5.079), use this parameter to write the offset value.
When you write P1.016, the value of P5.079 is the error correction for the previous capturing (P5.079)
plus the offset value set in P1.016.
When you read P1.016, the read value equals the value of P5.079.
Note: the setting value of this parameter is accumulative, which is not affected by the current error amount.
8-54
YX
00
01 - 5F
U Filter function
0 Disabled
1 Enabled
E-Cam: error offset compensation for synchronous
Capture axis
Unit: Pulse unit of master axis
Description
Filter disabled
If | Error | ≤ (1 - YX)%, then the filter is enabled
Description
Correction rate is out of the YX set range
Correction rate is within the YX set range
Control mode: PR
Setting range: -32768 to +32767
Data size: 16-bit
ASDA-A3
Address: 0120H
0121H