Delta ASDA-A3 Series User Manual page 634

ASDA-A3
P1.021
Default: 0
Unit: Kpps
Format: DEC
Settings:
During the operation of the E-Cam, if the mechanical factor is excluded, but the following error still
exists, which may be error caused by the electrical delay. Set the compensation pulse number of the
master axis to correct the E-Cam phase.
Compensation pulse = P1.018 (Compensation time for the pulse of the E-Cam master axis) x (Pulse
frequency of the E-Cam master axis (Kpps) - P1.021)
Note: monitor the pulse frequency of the E-Cam master axis (Kpps) with the monitoring variable 060 (3Ch). The
pulse frequency of the E-Cam master axis (Kpps) must be greater than P1.021 so the pulse is compensated.
P1.022
Default: 0x0000
Unit: -
Format: HEX
Settings:
YX Acceleration / deceleration time limit (0 - 1270 ms)
U Reverse inhibit

YX: acceleration / deceleration time limit (0 - 1270 ms)
If the PR command changes too drastically, it causes mechanical vibration. Set the acceleration /
deceleration time limit (the time required for the motor to accelerate from 0 to 3,000 rpm or to
decelerate from 3,000 rpm to 0
command is shorter than this limit, the filter takes effect to smooth the acceleration / deceleration
which prevents the command from changing too drastically and causing mechanical vibration.
When the filter is functioning, the lag caused by the smooth command is automatically
compensated after the command is smoothed, so the final position is not deviated.
Example:
Set YX to 12 and the acceleration / deceleration time limit as 180 ms (data format is HEX and unit
is 10 ms). If the acceleration / deceleration time of the PR command is shorter than 180 ms, the
filter takes effect. If the acceleration / deceleration time of the PR command is longer than 180 ms,
the filter does not take effect.
E-Cam: minimum frequency of pulse compensation for
the E-Cam master axis
PR command special filter
Note
) with this function. If the acceleration / deceleration time of the
Control mode: PR
Setting range: 0 to +30000
Data size: 16-bit
Control mode: PR
Setting range: 0x0000 - 0x107F
Data size: 16-bit
Z Reserved
- -
Parameters
Address: 012AH
012BH
Address: 012CH
012DH
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