Chapter 7 Motion Control
ASDA-A2R Series
Revision December, 2014
7-5
Code Name of Variables
／
Attribute
Descriptions
is
0.1 r/min. And the unit of linear motor is
s
/
m
10
6
.
The source might be analog, register or position loop.
010
(0Ah)
Torque (force)
command
(analog)
B
D2
Dec
The torque (force) command is issued by analog. The unit
is 0.01 Volt.
011
(0Bh)
Torque (force)
command
(processed)
B
The processed torque (force) command. The unit is
percentage (%).
The source might be analog, register or speed loop.
012
(0Ch)
Average load
B
The average load output by the servo drive. The unit is
percentage (%).
013
(0Dh)
Peak load
B
The maximum load output by the servo drive. The unit is
percentage (%).
014
(0Eh)
DC Bus voltage
B
Capacitor voltage after rectification. The unit is Volt.
015
(0Fh)
Inertia ratio (Total
weight of linear
motor and load)
B
D1
Dec
Rotary motor: Ratio of load inertia and motor inertia. The
unit is 0.1 times.
Linear motor: Total weight of linear motor and load; Unit:
0.1kg
016
(10h)
IGBT temperature
B
The temperature of IGBT. The unit is °
Ｃ
.
017
(11h)
Resonance
frequency
B
Dec
Resonance frequency of the system, including 2 groups of
frequency, F1 and F2.
When monitoring via panel, pressing
SHF
can switch the
display of both:
F2 shows no decimal point while F1 shows one.
When reading through communication (mapping
parameter):
Low-16 Bit (Low WORD) returns frequency F2.
High-16 Bit (High WORD) returns frequency F1.
018
(12h)
Z phase offset
B
Dec
The offset between the motor position and Z phase. The
range is from -5000 to +5000.
If the position is the same as Z phase, its value is 0. The
bigger the value is, the more the offset will be.
019
(13h)
Mapping
parameter
＃
1
B
Return the value of parameter P0-25 which is mapped by
P0-35
020
(14h)
Mapping
parameter
＃
2
B
Return the value of parameter P0-26 which is mapped by
P0-36
021
(15h)
Mapping
parameter
＃
3
B
Return the value of parameter P0-27 which is mapped by
P0-37
022
(16h)
Mapping
parameter
＃
4
B
Return the value of parameter P0-28 which is mapped by
P0-38