Delta ASD-A2-0121 Series User Manual page 267

ASDA-A2
Name of Variables /
Code
Attribute
Torque command
053
(integrated)
(35h)
D1 Dec
Torque feedback
054
(36h)
D1 Dec
Electric current
055
feedback
(37h)
D2 Dec
DC Bus voltage
056
(38h)
D1 Dec
Pulse from E-Cam
059
master axis
(3Bh)
(accumulation)
Pulse from E-Cam
060
master axis
(3Ch)
(increment)
Pulse from E-Cam
061
mast axis
(3Dh)
(lead pulse)
062 The position of E-Cam
(3Eh) axis
063 Position of E-Cam
(3Fh) slave axis
064 Terminal register of
(40h) PR command
065 Output register of PR
(41h) command
067
PR target speed
(43h)
068
S-curve filter (input)
(44h)
7-6
The integrated torque command.
The unit is 0.1 percent (%).
The source might be analog, register, or speed loop.
Current actual torque (force) of the motor.
The unit is 0.1 percent (%).
Current actual current of the motor.
The unit is 0.01 ampere (Amp).
Capacitor voltage after rectification. The unit is 0.1 volt.
The accumulative pulse number of E-Cam master axis.
It is the same as P5-86. A2-L does not support this
function.
The incremental pulse number from master axis. The unit is
pulse number per msec. A2-L does not support this
function.
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaged: lead pulse = P5-87 or P5-92. When
the value is 0, it will be engaged.
When it is engaged: lead pulse = P5-89. When the value is
0, it will be disengaged.
A2-L does not support this function.
The position of E-Cam master axis. The input of E-Cam
table (master axis).
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis rotates
M cycle (P5-83＝M, P5-84＝P).
A2-L does not support this function.
The position of E-Cam slave axis. The input of E-Cam table
(slave axis).
Unit: PUU
A2-L does not support this function.
In PR mode, the termination of position command (Cmd_E)
In PR mode, the accumulative output of position command
The target speed of path command in PR mode. The unit is
PPS (Pulse Per Second).
The input commands of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, E-Cam, and speed command.
A2-L does not support this function.
Chapter 7 Motion Control
Descriptions