Delta ASD-A2R-0221 Series - Page 238

Chapter 8 ParametersASDA-A2R Series
8-6 Revision December, 2014
Position Control Parameter
Parameter Abbr. Function Default Unit
Control Mode
Related
Section
PT PR S T
P1-02▲ PSTL
Speed and Torque (force) Limit
Setting
0 N/A O O O O 6.6
P1-12 ~
P1-14
TQ1 ~ 3
Internal Torque (force) Limit 1 ~
3
100 % O O O O 6.4.1
P1-46▲ GR3
Pulse Number of Encoder
Output
2500 pulse O O O O -
P1-55 MSPD Maximum Speed Setting rated
r/min
(rotary
motor)
3
10

m/s
(linear
motor)
O O O O -
P1-72 FRES
Resolution of Linear Scale for
full-closed loop control
5000
Pulse
/rev
O O -
P1-73 FERR
Error Protection Range for
Full-closed Loop Control
30000 pulse O O -
P1-74 FCON
Full-closed Loop Control of
Linear Scale
000h - O O -
P2-50 DCLR Pulse Clear Mode 0 N/A O O -
External Pulse Command (PT mode)
P1-00▲ PTT External Pulse Input Type 0x2 N/A O 6.2.1
P1-44▲ GR1 Gear Ratio (Numerator) (N1) 1 pulse O O 6.2.5
P1-45▲ GR2 Gear Ratio (Denominator) (M) 1 pulse O O 6.2.5
P2-60▲ GR4 Gear Ratio (Numerator) (N2) 1 pulse O O -
P2-61▲ GR5 Gear Ratio (Numerator) (N3) 1 pulse O O -
P2-62▲ GR6 Gear Ratio (Numerator) (N4) 1 pulse O O -
Register Control Command (PR mode)
P6-02 ~
P7-27
PO1 ~
PO63
Internal Position Command 1 ~
63
0 N/A O 7.10
P5-60 ~
P5-75
POV1 ~
POV15
Target Speed Setting#0 ~ 15
20 ~
3000
0.1r/m
in
(rotary
motor)
6
10

m/s
(linear
motor)
O 7.10
P5-03 PDEC
Deceleration Time of Auto
Protection
0XF00F
FFFF
N/A O O O O -
P5-04 HMOV Homing Mode 0 N/A O O -