Delta ASDA-A3 Series User Manual page 466

ASDA-A3
Code
064 (40h)
065 (41h)
067 (43h)
072 (48h)
081 (51h)
084 (54h)
091 (5Bh)
096 (60h)
111 (6Fh)
112 (70h)
113 (71h)
116 (74h)
120 (78h)
123 (7Bh)
Revision December, 2017
Variable name /
property
Endpoint register of PR
command
Output register of PR
command
PR target speed
Speed command
(analog)
B D1 Dec
Capture synchronous
axis
Incremental pulse input
Capture synchronous
axis
Pulse number of
synchronous deviation
Indexing coordinate
feedback
Drive firmware version
Dec
Error code of the servo
drive
CANopen SYNC TS
(unfiltered)
CANopen SYNC TS
(filtered)
Deviation between
position and Z phase
of auxiliary encoder
(pulse)
Communication
error rate
Value returned when
monitoring by panel
Description
In PR mode, the endpoint of the Position command (Cmd_E).
In PR mode, the accumulative output of the Position
command.
Target speed specified in the PR path.
Unit: PPS (Pulse Per Second).
Speed command from the analog channel. Unit: 0.1 rpm.
When Capture synchronous axis is enabled, the actual Mark
distance can be measured by the received pulse number
between two Captures.
When Capture synchronous axis is enabled, the
accumulative deviation between the actual output pulse and
the target pulse. This value is close to 0 if synchronization is
reached.
Immediate feedback position of the indexing coordinates.
Unit: Pulse of User Unit (PUU).
Includes 2 versions: DSP and CPLD
When monitoring from the panel, press the SHF 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: usec
The time the servo drive receives the SYNC signal that has
gone through the low-pass filter.
Unit: usec
Deviation between the current position of the auxiliary
encoder and the Z phase position of the auxiliary encoder
(applicable to A3-F).
When this value continues to increase, it indicates that there
is communication interference. In an interference-free
environment, this value should not increase.
Monitoring value displayed when returned to the monitoring
panel.
Parameters
8
8-209