Delta ASDA-A3 Series User Manual page 720

ASDA-A3
P3.007
Default: 1
Unit: 0.5 ms
Format: DEC
Settings:
Delays the time of communication response from servo drive to controller.
P3.008
P3.009
Default: 0x5055
Unit: -
Format: HEX
Settings:
The synchronous setting is divided into U, Z, Y, and X (hexadecimal):
Digit
Function synchronous error
Range
The slave synchronizes with the master via SYNC. The definition is as follows:
 Y: sets the size of deadband (unit: μsec). If the deviation between the SYNC arrival time and the
target value does not exceed the deadband, a correction is not needed.

Z: when the servo is operating in the DC-Synchronous mode, you can adjust the timing of the
servo accessing EtherCAT packets to ensure that this timing is not in conflict with the timing of
the controller sending the packets. The delay time in the following figure is (T/10) x Z (μs).
Slave

U: if the deviation between the SYNC arrival time and the target value is smaller than the range, it
means the synchronization is successful (unit: 10 μs).
Modbus communication response delay time
Reserved
Communication synchronization
U Z
Range of
Target value
(EtherCAT)
(CANopen)
M, F, L: 0 to F
1 to 9
E: 0 to A
Sync0
Cycle time (T)
delay
Slave App
Control mode: All
Setting range: 0 to 1000
Data size: 16-bit
Control mode: CANopen / EtherCAT
Setting range: Shown as follows
Data size: 16-bit
Y
Deadband
(CANopen)
0 to F
Sync0
Cycle time (T)
SM2 event
delay
Slave App
Parameters
Address: 030EH
030FH
Address: 0312H
0313H
X
Reserved
-
Sync0
SM2 event
8
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