Delta ASDA-A3 Series User Manual page 663

Parameters
8
Note: the actual maximum torque output of the motor is 10% greater than the detected torque level (P1.087). For
example: set P1.087 to 50%, and then the maximum torque output of the motor is 60%.
P1.088
Default: 2000
Format: DEC
Settings:
The setting of the torque level reached timer for the torque homing mode. If the motor torque output
continues to exceed the level set by P1.087 and the duration exceeds this setting, the homing is
complete. Refer to P1.087 for the timing diagram of torque homing mode.
P1.089
Default: 4000
Format: DEC
Settings:
Anti-resonance frequency for the first set of low frequency vibration elimination.
Use this function in flexible machines with low rigidity. The definition of a flexible machine is one for
which when the target position is reached, due to lack of rigidity, the machine vibrates and needs more
time to become stable. The servo drive provides two sets of vibration elimination. The first set is
P1.089 - P1.091 and the second set is P1.092 - P1.094. The vibration elimination setting must be
obtained through the System Module function in System Analysis of the ASDA-Soft with the check
box for Low Frequency Analysis selected.
Vibration elimination takes effect only when the two degree of freedom control function is enabled
(P2.094 [Bit 12] = 1). After enabling the two degree of freedom control function, turn on the first set of
vibration elimination with P2.094 [Bit 8] and the second set with P2.094 [Bit 9].
8-86
Protector
Torque level
10%
detection P1.087
Torque curve when
the servo searches
for the hard stop
Torque curve
when the servo
searches for Z
pulse
Z pulse
Torque homing - level reached timer
Unit: ms
Vibration elimination 1 - anti-resonance frequency
Unit: 0.1 Hz
Level reached timer P1.088
Maximum torque output
Starting point
Control mode: PR
Setting range: 2 to 2000
Data size: 16-bit
Control mode: PT / PR
Setting range: 10 to 4000
Data size: 16-bit
ASDA-A3
Address: 01B0H
01B1H
Address: 01B2H
01B3H