Delta ASDA-A3 Series User Manual page 862

ASDA-A3
Code
072 (48h)
081 (51h)
082 (52h)
084 (54h)
085 (55h)
091 (5Bh)
096 (60h)
111 (6Fh)
112 (70h)
113 (71h)
115 (73h)
116 (74h)
119 (77h)
120 (78h)
123 (7Bh)
-80
-91
Variable name /
property
Speed command
(analog)
B D1 Dec
Synchronous Capture
axis
Incremental pulse input
PR number in
execution
Synchronous Capture
axis
Pulse number of
synchronous deviation
E-Cam alignment
deviation percentage
Rotary axis position
feedback
Drive firmware version
Dec
Error code of the servo
drive
CANopen SYNC TS
(unfiltered)
CANopen SYNC TS
(filtered)
Position error between
main and auxiliary
encoders (pulse)
Difference between
current position and Z
phase of auxiliary
encoder (pulse)
EtherCAT state
machine
Communication error
rate
Value returned when
monitoring by panel
Encoder
communication error
rate
Overload (AL006)
protection counter
Description
Speed command from the analog channel. Unit: 0.1 rpm.
When the synchronous Capture axis is enabled, the actual
distance between two marks can be measured by the
received pulse number between two captures.
Provides the number of the PR command currently executed
by the servo drive to the HMC. (Available for F models)
The accumulative deviation between the actual output pulse
and the target pulse when the synchronous Capture axis is
enabled. This value is close to 0 if synchronization is
reached.
The alignment error rate after filtering. Unit: 0.1%.
10 indicates 1% and the angle conversion is 360° × 1% =
3.6°.
Immediate feedback of the rotary axis position. Unit: Pulse of
User Unit (PUU).
Includes 2 versions: DSP and CPLD.
When monitoring from the panel, press the S key to switch
between DSP and CPLD:
DSP displays zero decimal places; CPLD displays 1 decimal
place.
When reading by communication (mapping parameter):
Low word returns the DSP version number;
high word returns the CPLD version number.
Error code from the servo drive: control loop of the servo
only, not including the motion controller.
The time the servo drive receives the SYNC signal
(TimeStamp).
Unit: µsec
The time the servo drive receives the SYNC signal that has
been processed by the low-pass filter.
Unit: µsec
Difference between the main encoder's current position and
the auxiliary encoder's current position.
Difference between the current position and the Z phase
position of the auxiliary encoder.
1: Init
2: Pre-Operational (Pre-OP)
4: Safe-Operational (Safe-OP)
8: Operational (OP)
When this value continues to increase, it indicates that there
is communication interference. In an interference-free
environment, this value should not increase. (Available on all
models except A3-L)
Monitoring value displayed when returned to the panel.
When this value continues to increase, it indicates that there
is communication interference. In an interference-free
environment, this value should not increase.
Displays the motor load during operation. When the value of
the overload counter reaches 100%, AL006 occurs.
Parameters
8
8-285