Delta ASD-A3-0121, Руководство пользователя

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ASDA-A3 Parameters
Revision December, 2017
8-57
8
Protector
Torque
curve
Torque limit
setting P1.087
Torque limit time
setting P1.088
Z Pulse
Starting
point
P1.088 Torque limit time
Address: 01B0H
01B1H
Default:
2000
Control mode: PR
Unit: ms Setting range: 2 – 2000
Format: DEC Data size: 16-bit
Settings:
Set the Torque limit time for Torque limit homing mode. Please refer to P1.087 for the timing diagram of
Torque limit homing mode.
P1.089
First set of vibration elimination - Anti-resonance
frequency
Address: 01B2H
01B3H
Default:
4000
Control mode: PT / PR
Unit: 0.1 Hz Setting range: 10 – 4000
Format: DEC Data size: 16-bit
Settings:
Anti-resonance frequency for the first set of low frequency vibration elimination.
Use this function in flexible machines with low rigidity. The definition of a flexible machine is one for
which when the target position is reached, due to lack of rigidity, the machine vibrates and needs more
time to become stable. A3 provides two sets of vibration elimination. The first set is P1.089 – P1.091,
and the second set is P1.092 – P1.094. The vibration elimination setting must be obtained through the
system module, and is needed to enable the low-frequency analysis options. For details, please refer to
the ASDA-Soft software instructions.
Vibration elimination takes effect only when you enable the two dimensional control function P2.094 [Bit
12]. After enabling the vibration elimination function, turn on the first set of vibration elimination with
P2.094 [Bit 8] and the second set with P2.094 [Bit 9].
Example:
1. Set P2.094 = 0x11  to enable the first set.
2. Set P2.094 = 0x12  to enable the second set.
3. Set P2.094 = 0x13  to enable the first and second set.