Delta ASDA-A3 Series, Руководство пользователя

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Parameters ASDA-A3
8-228
8
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 the E-Gear ratio conversion.
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 modes.
007 (07h)
Speed feedback
B D1 Dec
Current motor speed. Unit: 0.1 rpm.
This is the speed after applying the low-pass filter, which makes
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: 0.1 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 (moving average every 20 ms) from the
servo drive. Unit: percentage (%).
013 (0Dh) Peak load rate B Maximum load rate from the 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.
017 (11h)
Resonance frequency
B Dec
Resonance frequency of the system consists of two groups of
frequencies: F1 and F2
When monitoring from the panel, press the SHF key to switch
between F1 and F2:
F2 displays zero decimal places; F1 displays 1 decimal place.
When reading by communication (mapping parameter):
Low word returns frequency F2.
High word returns frequency F1.
018 (12h)
Z phase offset
B Dec
Offset value between motor position and Z phase;
range: -4999 to +5000.
Where it overlaps with Z phase, the value is 0; the greater the
value, the greater the offset.