Chapter 7 Parameters
ASDA-B2
7-106
Revision May, 2018
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
servo 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
servo 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.
008 (08h)
Speed command
(analog)
B
D2
Dec
Speed command from the analog channel.
Unit: 0.01 Volt.
009 (09h)
Speed command
(integrated) B
Integrated Speed command. Unit: 1 rpm.
Source includes analog, register, or position loop.
010 (0Ah)
Torque command
(analog)
B
D2
Dec
Torque command from the analog channel.
Unit: 0.01 Volt.
011 (0Bh)
Torque command
(integrated) B
Integrated Torque command. Unit: percentage (%).
Source includes analog, register, or speed loop.
012
(0Ch)
Average load rate B
Average load rate from the servo drive.
Unit: percentage (%).
013
(0Dh)
Peak load rate B
Maximum load rate from the servo drive.
Unit: percentage (%).
014 (0Eh) DC Bus voltage B Rectified capacitor voltage. Unit: Volt.
015 (0Fh)
Load inertia ratio
B
D1
Dec
Ratio of the load inertia to the motor inertia.
Unit: 0.1 times.
016 (10h)
IGBT temperature
B
Temperature of IGBT. Unit: °C.