Delta ASDA-A3 Series User Manual page 662

ASDA-A3
P1.085
Default: 0
Unit: rev
Format: DEC
Settings:
This parameter sets the upper limit of the feedback position error between the main encoder and
auxiliary encoder. When the number of motor revolutions is greater than or equal to this parameter
value, the system automatically clears the error.
Note: PR full-closed loop function is not yet supported.
P1.086
P1.087
Default: 1
Unit: %
Format: DEC
Settings:
This setting is only for the torque homing mode. As shown in the following figure, after homing is
triggered, the motor runs in one direction and the mechanical part reaches the protector. The servo
drive then outputs a larger motor current in order to counter the external force. The servo drive uses
P1.087 and P1.088 as the conditions for homing. Since the hard stops are not always the same, it is
recommended that you have the servo return to find the Z pulse as the origin.
Auto clearing of the feedback position error between the
main encoder and auxiliary encoder
Reserved
Torque homing - torque level detection
Control mode: PT / PR* (full-closed loop)
Setting range: 0 to 32768 (0: disable this function)
Data size: 16-bit
Control mode: PR
Setting range: 1 to 300
Data size: 16-bit
Parameters
Address: 01AAH
01ABH
Address: 01AEH
01AFH
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