Delta ASD-A3-0121, User Manual

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ASDA-A3 Parameters
Revision December, 2017
8-99
8
The slave synchronizes with the master via SYNC. The definition is as follows:
M: reserved.
D: set the size of deadband (Unit: usec). If the deviation between the SYNC reaching time and the target
value does not exceed the deadband, a correction is not needed.
T: target value of SYNC arrival time. Standard value is 500 usec, but you should use the target value.
Target value = 400 + 10 x T. For example, if T = 5, the target value will be 450.
E: if the deviation between SYNC arrival time and the target value is smaller than the range,
it means the synchronization is successful (u nit: 10 μs).
P3.010 CANopen / DMCNET protocol
Address: 0314H
0315H
Default: 0x1 Control mode: CANopen / DMCNET
Unit: - Setting range: 0x0000 – 0xFFFF
Format: HEX Data size: 16-bit
Settings:
Communication protocol is divided into U, Z, Y, and X (hexadecimal):
Bit U Z Y X
Function
PDO alarm is cleared
automatically or not
Torque source limited - -
Range 0 – 1 0 – 1 - -
Definition is as follows:
X: reserved.
Y: reserved.
Z: torque source limited (only functions in mode B).
0: torque source limited to communication commands.
1: torque source limited to DI commands.
U*
1
: 0: if PDO error occurs, it must be cleared by AlarmReset.
1: if PDO error disappears, it automatically clears the alarm.
Note: the current firmware does not have this feature. It is expected to have this feature added in the near future.
P3.011 CANopen / DMCNET options
Address: 0316H
0317H
Default: 0x0 Control mode: CANopen / DMCNET
Unit: - Setting range: Shown as below
Format: HEX Data size: 16-bit
Settings:
Y Z U
X