Delta ASDA-A3 Series User Manual page 723

Parameters
Methods to write parameters to EEPROM (non-volatile):
SDO: parameters are stored in EEPROM when written.
PDO: refer to the setting of P3.011.X. (X = 1: when written through PDOs, parameters are stored in
EEPROM; X = 0: when written through PDOs, parameters are not stored in EEPROM.)
8
Note:
1. When the function of OD 1010h (Store parameters) is enabled, the CANopen OD value is stored in non-volatile
memory. When P3.012.Z = 0, the non-volatile value of CANopen OD is loaded as the initial content. Refer to the
descriptions in CANopen Standard. When P3.012.Z = 1, the initial content refers to the preceding table.
2. Rotary means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet synchronous
linear motor.

U: error clearing when the limit alarm occurs
0: when the limit alarm (AL014 or AL015) occurs, it needs to be cleared before the servo
1: when the limit alarm (AL014 or AL015) occurs, it does not need to be cleared before the servo
Note: determine whether the servo has reached the limit with the bit status of OD 6041h Statusword and OD 60FDh
Digital inputs.
Positive limit: OD 6041h [Bit 14] is On & OD 60FDh [Bit 1] is On
Negative limit: OD 6041h [Bit 15] is On & OD 60FDh [Bit 0] is On
The status of other bits of OD 6041h (Fault / Warning / Quick stop) remains unchanged when the servo reaches the
limit.
P3.013
Default: 0x0000
Format: HEX
Settings:
X
Z

X: encoder feedback source in full-closed loop control
0: feedback pulse number of the motor
1: feedback pulse number of the auxiliary encoder
2: in semi-closed loop control, it is the feedback pulse of the motor; in full-closed loop control, it is
the feedback pulse of the auxiliary encoder.
8-146
reverses to move away from the limit.
reverses to move away from the limit.
Controller's full-closed loop feedback source
Unit: -
Encoder feedback source in full-closed loop
control
Reserved
Control mode: PR* (full-closed loop)
Setting range: 0x0000 - 0x0022
Data size: 16-bit
Z phase offset source in full-closed loop
Y
mode
U Reserved
ASDA-A3
Address: 031AH
031BH