Chapter 7 Motion Control ASDA-M
7-8 Revision December, 2014
Code Name of Variables
／Attribute
Descriptions
(45h) (output)
smooth the output command.
It is effective in PR mode, ECAM and speed command.
076
(4Ch)
Speed command
of PR contour
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
081
(51h)
Synchronous
capture axis
Incremental input
pulse
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
084
(54h)
Synchronous
capture axis
Deviation pulse
number
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will close to 0.
096
(60h)
Firmware version
Dec
It includes two versions, DSP and CPLD.
When monitoring via panel, pressing the SHF Key can
switch the display of both:
DSP shows no decimal point while CPLD shows one.
When reading through communication (parameter
mapping):
Low-16 Bit (Low WORD) returns DSP version number.
High-16 Bit (High WORD) returns CPLD version number.
098
(62h)
PLC scan time
The update time of DI/DO. The unit is 0.5 msec.
109
(6Dh)
The amount of
data array
Returns the amount of data array. The unit is DWORD (32
Bits)
111
(6Fh)
Error code of the
servo drive
Error code of the servo drive: only for the control loop, not
including the motion controller.
112
(70h)
CANopen SYNC
TS (hasn’t been
through the filter)
The time the servo drive receives SYNC signal
(TimeStamp)
The unit is usec.
113
(71h)
CANopen SYNC
TS (has been
through the filter)
The time the servo drive receives SYNC signal and has
been through the filter
The unit is usec.
114
(72h)
CANopen
timing
synchronzation
To synchronize the device timing with the controller during
the operation.
The unit is usec.
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