Delta ASD-A2-0121 Series User Manual page 268

Chapter 7 Motion Control
Name of Variables /
Code
Attribute
069
S-curve filter (output)
(45h)
Speed command
072
(analog)
(48h)
B D1 Dec
076
Speed command of
PR contour
(4Ch)
Synchronous capture
axis
081
(51h)
Incremental input
pulse
082
PR number that is
currently executed
(52h)
Synchronous capture
axis
084
(54h)
Deviation pulse
number
091
The feedback of
indexing coordinate
(5Bh)
Firmware version
096
(60h)
Dec
098
PLC scan time
(62h)
109 The amount of data
(6Dh) array
111 Error code of the
(6Fh) servo drive
CANopen SYNC TS
112
(hasn't been through
(70h)
the filter)
CANopen SYNC TS
113
(has been through the
(71h)
filter)
CANopen
114
timing synchronization
(72h)
The output commands of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, E-Cam and speed command.
A2-L does not support this function.
The speed command is issued from analog channel.
The unit is 0.1 r/min.
This function is supported by A2-M/U/L.
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration time,
deceleration time, and moving distance (before S-curve
filter).
The unit is PPS (Pulse Per Second).
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
To inform HMC the PR number that is being executed. (It is
applicable to A2-F.)
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will be close to 0.
The immediate feedback position of indexing coordinates.
The unit is PUU (user unit).
It includes two versions, DSP and CPLD.
When monitoring via the panel, pressing the SHF Key can
switch the display of both:
DSP shows no decimal point while CPLD shows one.
When reading through communication (parameter
mapping):
Low-16 Bit (Low WORD) returns DSP version number.
High-16 Bit (High WORD) returns CPLD version number.
The update time of DI/DO. The unit is 0.5 msec.
Returns the amount of data array.
The unit is DWORD (32 Bits)
Error code of the servo drive: only for the control loop, not
including the motion controller.
The time the servo drive receives SYNC signal
(TimeStamp).The unit is usec.
The time the servo drive receives SYNC signal and has
been through the filter. The unit is usec.
To synchronize the device timing with the controller during
the operation. The unit is usec.
Descriptions
ASDA-A2
7-7