Delta ASDA-A3 Series User Manual page 601

Target setting of mapping parameter P0.026 (P0.036) 8-3,
8-21
Target setting of mapping parameter P0.027 (P0.037) 8-3,
8-21
Target setting of mapping parameter P0.028 (P0.038) 8-3,
8-22
Target setting of mapping parameter P0.029 (P0.039) 8-4,
8-22
Target setting of mapping parameter P0.030 (P0.040) 8-4,
8-22
Target setting of mapping parameter P0.031 (P0.041) 8-4,
8-23
Target setting of mapping parameter P0.032 (P0.042) 8-4,
8-23
Drive status display (P0.002) 8-3, 8-13
Monitoring variables
Parameter setting procedure 4-3 ~ 4-5
Monitoring display 4-7~4-9
Description of monitoring variables 8-208~8-211
Relevant parameters
Status monitoring register 1 (P0.009) 8-3, 8-15
Status monitoring register 2 (P0.010) 8-3, 8-15
Status monitoring register 3 (P0.011) 8-3, 8-16
Status monitoring register 4 (P0.012) 8-3, 8-16
Status monitoring register 5 (P0.013) 8-3, 8-16
Select content displayed by status monitoring register 1
(P0.017) 8-3, 8-16
Select content displayed by status monitoring register 2
(P0.018) 8-3, 8-17
Select content displayed by status monitoring register 3
(P0.019) 8-3, 8-17
Select content displayed by status monitoring register 4
(P0.020) 8-3, 8-17
Select content displayed by status monitoring register 5
(P0.021) 8-3, 8-17
Drive status display (P0.002) 8-3, 8-13
Position mode
DI signal: GAINUP (0x03) 8-70, 8-196
DO signal: TPOS (0x05) 3-26, 6-9, 7-7, 8-24, 8-50, 8-203
DO signal: OVF (0x12) 8-201
S-curve filter (Position) 6-7
Position command processing unit 6-6
Gain adjustment of position loop 6-11
Position control gain 5-20
Position control parameters (list) 8-7~8-8
Position mode description 6-3, 6-5
Control structure of position mode 6-5
Low-frequency vibration suppression in Position mode 6-12
Specification of ASDA-A3-Position mode A-2
Low-pass filter 6-10
Relevant Parameters
Anti-interference gain (P2.026) 5-21, 8-6, 8-69
Position command moving filter (P1.068) 8-4, 8-55
Smooth constant of position command (Low-pass filter)
(P1.008) 8-4, 8-35
Range of position reached (P1.054) 8-10, 8-52
Position control gain (P2.000) 5-20, 8-6, 8-63
Position feed forward gain (P2.002) 5-21, 8-6, 8-63
Warning condition for excessive deviation of position
command (P2.035) 8-73
Relevant Alarms
Excessive deviation of position command (AL009) 11-3, 11-10
Absolute positioning command error (AL235) 11-6, 11-40
Selection of operation mode-Position mode 6-3
Position mode (PR)
DO signal: Cmd_OK (0x15) 6-9, 7-7, 8-50, 8-205
DO signal: MC_OK (0x17) 6-9, 7-7, 8-49, 8-205
Position command in PR mode 6-4
PR procedure execution flow
PR queue 7-48
PR executor 7-48
Overlap command 7-57
Sequence command 7-48
Command interruption 7-52
2
Motion command generator 7-48
Electronic gear ratio (E-Gear ratio) 6-8
Timing diagram of PR mode 6-9
Command type
Index position command 7-29~7-32
Position command 7-22, 7-38
Speed command 7-20, 7-38
Arithmetic operations 7-33, 7-41
Jump command 7-26, 7-39
Write command 7-27, 7-40
E-Cam
Master axis/command source (P5.088.Y) 8-137
Engaging condition (P5.088.Z) 8-137
Relevant parameters
DO.CAM_Area rising-edge phase setting (P5.090) 8-139
DO.CAM_Area falling-edge phase setting (P5.091) 8-139
Master gear ratio setting - Cycle number (M) (P5.083) 8-135
Master gear ratio setting - Pulse number (P) (P5.084) 8-135
Master axis position (P5.086) 8-136
Area number N (P5.082) 8-135
Activate E-Cam control (P5.088) 8-137
Position of capture synchronous axis (SYNC CAP AXES)
(P5.077) 8-133
Interval between each synchronous capture action (P5.078)
8-133
Following error of synchronous capture axis (P5.079) 8-134
Max. correction rate of synchronous capture axis (P5.080)
8-134
Start address of data array (P5.081) 8-135
Data of disengaging time (P5.089) 8-138
Pre-engaged length of each cycle (P5.092) 8-139
E-Cam curve scaling (P5.019) 8-117
Save the E-Cam data (P2.008) 8-64
Engaged area number (P5.085) 8-136
Lead pulse before engaged (P5.087) 8-136
Macro
Relevant parameters
Command parameter#1 ~ 4 (P5.096 ~ P5.093) 8-140
Issue command / Executing result (P5.097) 8-141
Data array
Data size (P5.010) 8-115
Address of reading / writing (P5.011) 7-62, 8-115
Window #1~#2 for reading / writing (P5.012~P5.013) 7-62,
8-115
Window #3~#6 for reading / writing (P5.100 ~ P5.103) 7-62,
8-151
Monitoring variables
PR command end register (Cmd_E) 7-6, 8-211
Feedback position (PUU) 7-6, 8-211
Position deviation (PUU) 7-6, 8-211
Position command (PUU) 7-6, 8-211
Description of monitoring variables 8-208
Servo drive status display (P0.002) 8-3, 8-13
Regenerative resistor
Selection of regenerative resistor 2-13~2-18
Description of the drive interface- regenerative resistor 1-11
Wiring diagram of the servo system 3-20~3-21
Connecting to peripheral devices-regenerative resistor (optional)
3-4
Specification of ASDA-A3 servo drive- regenerative resistor A-2
Connectors and terminal blocks 3-5
Relevant Parameters
Regenerative resistor value (P1.052) 8-51
Regenerative resistor capacity (P1.053) 8-51
Relevant Alarms
Regenerative resistor disconnected (AL095) 11-5, 11-30
Regeneration error (AL005) 11-3, 11-9
Regeneration setting error (AL085) 11-4, 11-25
Resonance suppression
Resonance suppression unit 6-23~6-25
Mechanical resonance suppression 5-22
Filter and resonance suppression parameters (list) 8-4~8-5
Relevant Parameters
Resonance suppression (Notch filter) (1) (P2.023) 8-5, 8-68
Resonance suppression (Notch filter) attenuation rate (1)
Revision December, 2017