Delta ASDA-A2 Series User Manual

Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-5
Code
Name of Variables /
Attribute
Description
035
(23h)
Indexing coordinate
command
The current command of the indexing coordinates. The unit
is PUU (user unit).
037
(25h)
Compare data of
COMPARE
Display the compare data. This actual compare data is a
compare value plus an offset value via P1-23 and P1-24.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
038
(26h)
Voltage level of battery The voltage level of battery for an absolute encoder.
039
(27h)
DI status (Integrated)
Hex
The processed DI status of the servo drive. Each bit
corresponds to one DI channel.
The source includes hardware channel / software P4-07
which is determined by P3-06.
040
(28h)
DO status (Hardware)
Hex
The real status of Digital Output hardware. Each bit
corresponds to one DI channel.
041
(29h)
Drive Status
Return the value of P0-46. Please refer to the description of
the parameter.
043
(2Bh)
CAP, data capturing
The Data captured by CAP hardware from the latest time
Note: CAP could continuously capture many points.
048
(30h)
Auxiliary encoder CNT The value of pulse counter from auxiliary encoder (CN5)
049
(31h)
Pulse command CNT The value of pulse counter from pulse command (CN1)
050
(32h)
Speed command
(processed)
D1 Dec
The processed speed command. The unit is 0.1 r/min.
The source might be analog, register or position loop.
051
(33h)
Speed feedback
(immediate)
D1 Dec
Current actual speed of the motor. The unit is 0.1 r/min.
052
(34h)
Speed feedback (filter)
D1 Dec
Current actual speed of the motor. The unit is 0.1 r/min.
053
(35h)
Torque command
(processed)
D1 Dec
The processed torque command. The unit is 0.1 percent
(%).
The source might be analog, register or speed loop.
054
(36h)
Torque feedback
D1 Dec
Current actual torque (force) of the motor. The unit is 0.1
percent (%).
055
(37h)
Electric current
feedback
D2 Dec
Current actual electric current of the motor. The unit is 0.01
ampere (Amp).
056
(38h)
DC Bus voltage
D1 Dec
Capacitor voltage after rectification. The unit is 0.1 volt.
059
(3Bh)
Pulse from E-Cam
master axis
(accumulation)
The accumulative pulse number of E-Cam master axis. It is
the same as P5-86. A2L does not support this function.

Delta ASDA-A2 Series Specifications

General

Enclosure Rating	IP20
Control Mode	Position, Speed, Torque
Communication Interface	RS-485, CANopen
Protection	Overcurrent, Overvoltage, Undervoltage, Overload, Overtemperature, Encoder error
Operating Temperature	0°C to 55°C
Storage Temperature	-20°C to 65°C
Humidity	20% to 90% RH (non-condensing)
Altitude	1000m max
Cooling Method	Natural cooling or forced air cooling
Encoder Feedback	20-bit incremental encoder (standard), 17-bit absolute encoder (optional)