Delta ASD-A3-0121, User Manual

Page: 463 / 603

Parameters ASDA-A3
8-206
Revision December, 2017
8
Table 8.3 Monitoring variables descriptions
Item Description
Monitoring
code
Each monitoring variable has a code, and you can use P0.002 to set the code and
monitor the variable.
Format Each monitoring variable is stored in the 32-bit format (long integer) of the servo drive.
Category
Basic variables / expansion variables:
1. Basic variables: variables (P0.002 = 0 – 26) within the cycle; in monitoring mode,
you can display the variables by using the UP / DOWN keys on the panel.
2. Expansion variables: variables other than basic variables. (P0.002 = 27 – 127)
Monitoring
method
Panel display / mapping:
1. Panel display: monitor with the panel
2. Mapping: monitor variables or parameters by mapping parameters
Panel
display
1. Use the MODE key to switch to the monitor mode and press the UP / DOWN keys to
select the variable to monitor.
2. Input the variable code to monitor into P0.002 and start monitoring.
Press the SHIFT key on the panel to switch between high and low digit display;
Press the SET key on the panel to switch between decimal and hexadecimal display.
Mapping
1. Parameters that support monitoring variable mapping: for P0.009 – P0.013,
please refer to Section 8.3 Parameter descriptions.
2. You can read monitoring variables through communication using mapping
parameters.
3. The value of the mapping parameter (P0.009 – P0.013) is the content of the basic
variables (17h, 18h, 19h, 1Ah). To monitor P0.009, set P0.017 to the value to read
(please refer to P0.002). You can read the data specified by P0.017 through
communication or the monitor panel (set P0.002 to 23). When the panel displays
“VAR-1”, it indicates the content value of P0.009.
The property code of each monitoring variable is described in the following table:
Property Description
B BASE: basic variables, you can select with the UP / DOWN keys on the panel.
D1 D2
Decimal place displayed on panel: D1 indicates 1 decimal place, D2 indicates 2 decimal
places.
Dec
Only decimal display is available on the panel, and you cannot switch to hexadecimal
display by pressing the SET key.
Hex
Only hexadecimal display is available on the panel, and you cannot switch to decimal
display by pressing the SET key.
Monitoring variables are described in the following table by the code sequence:
Code
Variable name /
property
Description
000 (00h)
Feedback position
(PUU) B
Current feedback position of the motor encoder. Unit: Pulse
of User Unit (PUU).
001 (01h)
Position command
(PUU) B
Current coordinate of the Position command. Unit: Pulse of
User Unit (PUU).
PT mode: number of pulse commands received by the drive.
PR mode: absolute coordinates of the Position command.
002 (02h)
Position deviation
(PUU) B
Deviation between the Position command and the feedback
position. Unit: Pulse of User Unit (PUU).
003 (03h)
Feedback position
(pulse) B
Current feedback position of the motor encoder.
Unit: Encoder unit (pulse).
004 (04h)
Position command
(pulse) B
Current coordinate of the Position command. Unit: Encoder
unit (pulse). This is the command after passing E-Gear.
005 (05h)
Position deviation
(pulse) B
Deviation between the Position command and the feedback
position. Unit: Encoder unit (pulse).
006 (06h)
Pulse command
frequency B
Frequency of the pulse command received by the drive.
Unit: Kpps. Applicable to PT / PR mode.
007 (07h)
Speed feedback
B D1 Dec
Current motor speed. Unit: 0.1 rpm.
The low-pass filter has been applied to this value to make it
more stable.