Delta ASD-A2R-0121 Series, Руководство пользователя

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Chapter 7 Motion Control

ASDA-A2R Series
7-4 Revision December, 2014
The descriptions of monitor variables attribute are as the following.
Attribute Descriptions
B
BASE: basic variables. Variables that can be viewed by UP/DOWN Key
on the panel.
Dn When the panel displays, the position of the decimal point will be D1
which means it only shows one decimal point; D2 means it shows two
decimal points.
Dec When the panel displays, the information only can be shown in decimal
format. Pressing the SET Key on the panel cannot switch it to
hexadecimal format.
Hex When the panel displays, the information only can be shown in
hexadecimal format. Pressing the SET Key on the panel cannot switch it
to decimal format.
Descriptions of monitor variables in sequence of code are as the following.
Code Name of Variables
／
Attribute
Descriptions
000
(00h) Feedback position
(PUU)
B
The current feedback position of the motor encoder. The
unit is PUU (user unit).
001
(01h) Position command
(PUU)
B
The current coordinate of position command. The unit is
PUU (user unit).
PT mode: it represents the pulse number the servo drive
received.
PR mode: the value of absolute coordinate from position
command
Equals to the pulse number sent by the controller.
002
(02h) Position deviation
(PUU)
B
The deviation between the position command and
feedback position. The unit is PUU (user unit).
003
(03h) Feedback position
(pulse)
B
Current feedback position of the motor encoder. The unit
is pulse (encoder unit).
004
(04h) Position command
(pulse)
B
The current coordinate of the position command. The unit
is pulse (encoder unit).
The command that had gone through E-gear.
005
(05h) Position deviation
(pulse)
B
The deviation between the position command and
feedback position. The unit is pulse (encoder unit).
006
(06h) Pulse command
frequency
B
Frequency of pulse command received by the servo drive.
The unit is Kpps.
It is suitable in PT/PR mode.
007
(07h) Speed feedback
B D1 Dec
Current speed of the motor. The unit of rotary motor is 0.1
r/min. And the unit of linear motor is s / m 10
6

.
The value is more stable since it has been though
low-pass filter.
008
(08h) Speed command
(analog)
B D2 Dec
The speed command is issued by analog. The unit is 0.01
Volt.
009
(09h) Speed command
(processed)
B
The processed speed command. The unit of rotary motor