Delta ASDA-A3 Series User Manual page 413

Parameters
8
P1.021
Default:
Unit:
Format:
Settings:
During the operation of the E-Cam, if the mechanical factor is excluded, but the following error still exists,
which may be error caused by the electrical delay. Set the compensation pulse number of the master
axis to correct the E-Cam phase.
Compensation pulse = P1.018 (Compensation time for the pulse of the E-Cam master axis) x (Pulse
frequency of the E-Cam master axis (Kpps) - P1.021)
Note: monitor the pulse frequency of the E-Cam master axis (Kpps) with the monitoring variable 060 (3Ch). The pulse
frequency of the E-Cam master axis (Kpps) must be greater than P1.021 to be compensated.
P1.022
Default:
Unit:
Format:
Settings:
XY
U
YX: acceleration / deceleration time limit (0 - 1270 ms)

If the PR command changes too drastically, it causes mechanical vibration. Set the acceleration /
deceleration time limit (the time required for the motor to accelerate from 0 to 3,000 rpm) with this
function. If the acceleration / deceleration time of the command is shorter than this limit, the filter
takes effect to smooth the acceleration / deceleration which prevents the command from changing
too drastically and causing mechanical vibration. When the filter is functioning, the lag caused by
8-40
E-Cam: minimum frequency of pulse compensation for the
E-Cam master axis
0
Kpps
DEC
PR command special filter
0x0000
-
HEX
Acceleration / deceleration time limit (0 -
1270 ms)
Reverse inhibit
Control mode: PR
Setting range: 0 to +30000
Data size: 16-bit
Control mode: PR
Setting range: 0x0000 - 0x107F
Data size: 16-bit
Z Reserved
- -
ASDA-A3
Address: 012AH
012BH
Address: 012CH
012DH