Delta ASD-A2-0121 Series User Manual page 266

Chapter 7 Motion Control
Name of Variables /
Code
Attribute
026 Mapping monitoring
(1Ah) variable # 4
028
Alarm codes
(1Ch)
029 Feedback of auxiliary
encoder (PUU)
(1Dh)
Position error of
030
auxiliary encoder
(1Eh)
(PUU)
Position error or
031
main/auxiliary encoder
(1Fh)
(PUU)
035
Indexing coordinate
command
(23h)
037 Compare data of
(25h) COMPARE
038 Voltage level of
(26h) battery
DI status (Integrated)
039
(27h)
Hex
DO status (Hardware)
040
(28h)
Hex
041
Drive Status
(29h)
043
CAP, data capturing
(2Bh)
048
Auxiliary encoder CNT
(30h)
049
Pulse command CNT
(31h)
Speed command
050
(integrated)
(32h)
D1 Dec
Speed feedback
051
(immediate)
(33h)
D1 Dec
Speed feedback (filter)
052
(34h)
D1 Dec
Return the value of parameter P0-12 which is the
B monitoring variables mapped by P0-20.
Alarm codes of DMCNET mode (applicable to A2-F, A2-N,
and A2-M/U/L)
The position feedback from auxiliary encoder (CN5)
(applicable to A2-F)
Position deviation between position feedback (from CN5)
and command (applicable to A2-F)
Feedback position deviation between main encoder and
auxiliary encoder (applicable to A2-F)
The current command of the indexing coordinates.
The unit is PUU (user unit).
Display the compare data. This actual compare data is a
compare value plus an offset value via P1-23 and P1-24.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
The voltage level of battery for an absolute encoder.
The integrated DI status of the servo drive. Each bit
corresponds to one DI channel.
The source includes hardware channel / software P4-07
which is determined by P3-06.
The real status of Digital Output hardware. Each bit
corresponds to one DI channel.
Return the value of P0-46. Please refer to the description of
the parameter.
The Data captured by CAP hardware from the latest time
Note: CAP could continuously capture many points.
The value of pulse counter from auxiliary encoder (CN5)
The value of pulse counter from pulse command (CN1)
The processed speed command. The unit is 0.1 r/min.
The source might be analog, register, or position loop.
Current actual speed of the motor. The unit is 0.1 r/min.
Current actual speed of the motor. The unit is 0.1 r/min.
(The low-pass filter has been applied to this value)
Descriptions
ASDA-A2
7-5