Delta ASDA-B3 Series User Manual page 463

Parameters
Value: 0x1D
DI name
8
ABSE
Value: 0x1F
DI name
ABSC
Value: when DI.ABSE is on, the DI.ABSQ from DI4 replaces the DI4 function from P2.013
DI name
ABSQ
always
input by
DI4
Value: 0x14, 0x15
DI name
SPD0
SPD1
Value: 0x16, 0x17
DI name
TCM0
TCM1
8-178
When DI.ABSE is on, it is in absolute mode and can enable the
functions of DI.ABSQ, DI.ABSR, DI.ABSD, and DI.ABSC at the same
time.
When DI.ABSE is on, the functions of DI4, DO2, and DO3 are no
longer the ones assigned by the parameter. The DI4 function will be
DI.ABSQ, DO2 will be DI.ABSR, and DO3 will be DI.ABSD. In
addition, DI pin of DI.ABSC can be assigned by parameters.
When DI.ABSC is on, the number of turns stored in absolute encoder
are cleared. But this DI is only valid when DI.ABSE is on.
During I/O transmission, the controller sends the handshaking signal.
When DI.ABSQ is off, the controller issues the request; when
DI.ABSQ is on, the controller has processed the ABSD signal. This DI
is only valid when DI.ABSE is on. Refer to Figure 10.3.5.1.1 for the
timing diagram.
Register Speed command selection (1 - 4)
Speed DI signal of CN1
command
SPD1 SPD0
number
S1 0 0
S2 0 1
S3 1 0
S4 1 1
Register Torque command selection (1 - 4)
Torque
DI signal of CN1
command
TCM1 TCM0
number
T1 0 0
T2 0 1
T3 1 0
T4 1 1
Description
Description
Description
Description
Command source Content
External Voltage difference
S analog between V-REF
signal and GND
Speed command
Sz N/A
is 0
P1.009
Internal register
P1.010
parameter
P1.011
Description
Command source Content
Voltage difference
External
T
between T_REF
analog signal
and GND
Torque command
Tz N/A
is 0
P1.012
Internal register
P1.013
parameter
P1.014
Triggering
method
Level
triggered
Triggering
method
Rising-edge
triggered
Triggering
method
Rising- and
falling-edge
triggered
Triggering
method
Range
-10V to +10V
Level
triggered
0
+/- 6000 rpm
+/- 6000 rpm
+/- 6000 rpm
Triggering
method
Range
-10V to +10V
Level
triggered
0
+/- 500%
+/- 500%
+/- 500%
ASDA-B3
Control
mode
All
Control
mode
All
Control
mode
All
Control
mode
S, Sz
Control
mode
T, Tz