ASDA-M Chapter 7 Motion Control
Revision December, 2014 7-7
Code Name of Variables
／Attribute
Descriptions
(35h) (processed)
D1 Dec
(%).
The source might be analog, register or speed loop.
054
(36h)
Torque feedback
D1 Dec
Current actual torque 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 ECAM
master axis
(accumulation)
The accumulative pulse number of E-Cam master axis. It
is the same as P5-86.
060
(3Ch)
Pulse from ECAM
master axis
(increment)
The incremental pulse number from master axis. The unit
is pulse number per msec.
061
(3Dh)
Pulse from ECAM
mast axis
(lead pulse)
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaging: lead pulse = P5-87 or P5-92.
When the value is 0, it will be engaged.
When it is engaging: lead pulse = P5-89. When the value
is 0, it will be disengaged.
062
(3Eh)
The position of
ECAM axis
The position of ECAM axis.
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis
rotates M cycle (P5-83＝M, P5-84＝P).
063
(3Fh)
Position of ECAM
slave axis
The position of E-Cam slave axis.
Unit: PUU
064
(40h)
Terminal register
of PR command
In PR mode, the termination of position command
(Cmd_E)
065
(41h)
Output register of
PR command
In PR mode, the accumulative output of position
command
067
(43h)
PR target speed
The target speed of path command in PR mode. The unit
is PPS (Pulse Per Second)
068
(44h)
S-curve filter
(input)
The input command of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, ECAM and speed command.
069 S-curve filter
The output command of S-curve filter which is used to
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