Chapter 7 Motion Control
ASDA-A2R Series
7-8
Revision December, 2014
Code Name of Variables
／
Attribute
Descriptions
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
synchronization
To synchronize the device timing with the controller during
the operation.
The unit is usec.
123
(7Bh)
The returned
value when
monitoring via
panel
The returned value when monitoring via panel
