Delta ASDA-A3 Series User Manual page 655

Parameters
P1.072
Default: 5000
8
Format: DEC
Settings:
The number of A/B pulses corresponding to a full-closed loop when the motor runs a cycle (after
quadruple frequency).
Note: PR full-closed loop function is not yet supported.
P1.073
Default: 30000
Format: DEC
Settings:
In full-closed loop control, when the feedback pulse difference between the auxiliary encoder and the
main encoder is too great, it means the connectors are loose or there is a problem with the mechanical
part. When the difference is greater than the value of P1.073, AL040 (Excessive position error of full-
closed loop control) occurs.
Note: PR full-closed loop function is not yet supported.
8-78
Resolution of auxiliary encoder for full-closed loop control
Unit: pulse/rev
Protection range for feedback position error between
main encoder and auxiliary encoder
pulse (based on the feedback of
Unit:
full-closed loop)
P1.073 < (Main encoder feedback ×
Error between the main
encoder and auxiliary
encoder
P1.073
P1.085
Control mode: PT/PR* (full-closed loop)
Setting range: 200 to 1280000
Data size: 32-bit
Control mode: PT/PR* (full-closed loop)
31
Setting range: 1 to (2
Data size: 32-bit
��1.072
) − Auxiliary encoder feedback
16777216
When the error between
the main encoder and
auxiliary encoder is too
great, AL040 occurs.
P1.085
ASDA-A3
Address: 0190H
0191H
Address: 0192H
0193H
-1)
Number of motor
revolutions