Delta Ultimate Integrated AC Servo Drive with Excellent

Delta Ultimate Integrated AC Servo Drive with Excellent
Delta Ultimate Integrated AC Servo Drive with
Excellent Performance ASDA-M Series User Manual
Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan City,
Taoyuan County 33068, Taiwan
TEL: 886-3-362-6301 / FAX: 886-3-371-6301
Asia
Delta Electronics (Jiangsu) Ltd.
Wujiang Plant 3
1688 Jiangxing East Road,
Wujiang Economic Development Zone
Wujiang City, Jiang Su Province,
People's Republic of China (Post code: 215200)
TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290
Delta Greentech (China) Co., Ltd.
238 Min-Xia Road, Pudong District,
ShangHai, P.R.C.
Post code : 201209
TEL: 86-21-58635678 / FAX: 86-21-58630003
Delta Electronics (Japan), Inc.
Tokyo Office
2-1-14 Minato-ku Shibadaimon,
Tokyo 105-0012, Japan
TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211
Delta Electronics (Korea), Inc.
1511, Byucksan Digital Valley 6-cha, Gasan-dong,
Geumcheon-gu, Seoul, Korea, 153-704
TEL: 82-2-515-5303 / FAX: 82-2-515-5302
Delta Electronics Int’l (S) Pte Ltd
4 Kaki Bukit Ave 1, #05-05, Singapore 417939
TEL: 65-6747-5155 / FAX: 65-6744-9228
Delta Electronics (India) Pvt. Ltd.
Plot No 43 Sector 35, HSIIDC
Gurgaon, PIN 122001, Haryana, India
TEL : 91-124-4874900 / FAX : 91-124-4874945
Americas
Delta Products Corporation (USA)
Raleigh Office
P.O. Box 12173,5101 Davis Drive,
Research Triangle Park, NC 27709, U.S.A.
TEL: 1-919-767-3800 / FAX: 1-919-767-8080
Delta Greentech (Brasil) S.A
Sao Paulo Office
Rua Itapeva, 26 - 3° andar Edificio Itapeva One-Bela Vista
01332-000-São Paulo-SP-Brazil
TEL: +55 11 3568-3855 / FAX: +55 11 3568-3865
Europe
Deltronics (The Netherlands) B.V.
Eindhoven Office
De Witbogt 15, 5652 AG Eindhoven, The Netherlands
TEL: 31-40-2592850 / FAX: 31-40-2592851
*We reserve the right to change the information in this catalogue without prior notice.
V1.0
DELTA_ASDA-M_M_EN_20130531
Delta Ultimate Integrated
AC Servo Drive with
Excellent Performance
ASDA-M Series
User Manual
www.delta.com.tw/ia
Preface
ASDA-M
Preface
Thank you for purchasing ASDA-M. This user manual provides the related information of
ASDA-M series servo drives and ECMA series servo motors. This manual includes:
 Installation and inspection of servo drive and servo motor







The configuration of servo drive
Procedures of trial run
Control function and adjustment methods of servo drive
Parameters
Communication protocol
Maintenance and inspections
Troubleshooting
This manual addresses personnel with the following qualifications:




Servo system designers
Installation or wiring personnel
Trial and tuning personnel
Maintenance and inspection personnel
Before using the product, please read through this manual carefully in order to ensure the
correct use of the product. In addition, please place this manual safely for quick reference
whenever is needed. Please follow the rules below if you have not finished reading this
manual yet.
 No water, corrosive gas and inflammable gas are allowed in installation





environment.
Three-phase power is prohibited to connect to U, V and W connector when wiring.
It is possible to damage the servo drive.
Ground is a must.
Do not disconnect the servo drive, motor or change the wiring when connecting to
the power.
Be ensured that the emergency stop can be activated anytime before connecting to
the power and operation.
Do not touch the heat sink to avoid scald before connecting to the power and
operation.
If you have any enquiry, please contact the distributors or DEALTA customer service center.
April, 2013
i
ASDA-M
Preface
Safety Precautions
ASDA-M series is the high resolution and open type servo drive. It should be installed in a
shielded control box during operation. This servo drive uses precise feedback control and
the digital signal processor with high-speed calculation function to control the current output
which generated by IGBT so as to operate three-phase permanent magnet synchronous
motors (PMSM) and to achieve precise positioning.
ASDA-M is applicable on industrial application and is suggested to be installed in the
panel-board of the user manual. (Servo drives, wire rod and motors all should be installed
in the environment which complies with the minimum requirement of UL Level 1.)
Pay special attention to the following safety precautions anytime during inspection,
installation, wiring, operation and examination.
The symbol of danger, warning and stop represent:
It indicates the potential hazards. It is possible to cause severe injury or fatal
harm if not follow the instructions.
It indicates the potential hazards. It is possible to cause minor injury or lead to
serious damage of the product or even malfunction if not follow the instructions.
It indicates the absolute prohibited activity. It is possible to damage the product or
cannot be used due to malfunction if not follow the instructions.
Inspection

Please follow the instruction when using servo drive and servo motor, or it is
possible to cause fire or malfunction.
Installation

It is prohibited to expose the product with the environment which containing
water, corrosive gas, inflammable gas, etc. Or it is possible to cause electric
shock or fire.
Wiring




ii
Please connect the ground terminal to class-3 ground system (under 100 Ω),
poor grounding may result in electric shock or fire.
Do not connect the three-phase source to the motor output terminal U, V and
W. Or it is possible to cause personnel injury or fire.
Please tighten the screws of the power and motor output terminal. Or it is
possible to cause fire.
Please connect wiring according to the wire rod in order to prevent any
danger.
April, 2013
Preface
ASDA-M
Operation


Before the operation, please change the parameter setting value according to
the needs. If it is not adjusted to the correct setting value, it is possible to lead
to malfunction of the machine or the operation might out of control.
Before the machine starts to operate, please be ensured the emergency stop
can be activated anytime.

During the operation, it is prohibited to touch any rotating motor parts. Or it is
possible to cause personnel injury.

In order to prevent any accident, please separate the couplings and belts of
the machine and isolate them. Then conduct the initial trial run.
If users fail to operate the machine properly after the servo motor connects to
the equipments, it would cause the damage of the equipments and lead to the
personnel injury.
In order to prevent the danger, it is strongly recommended to check if the
motor can operate normally without load first. Then, operate the motor with
load.
Do not touch the heat sink of the servo drive. Or it is possible to cause scald
due to the high temperature.



Maintenance and Inspection

It is prohibited to touch the internal parts of the servo drive and servo motor.
Or it is possible to cause electric shock.

It is prohibited to disassemble the panel of the servo drive when turning on the
power. Or it is possible to cause electric shock.

Do not touch the ground terminal within 10 minutes after turning off the power.
Or the residual voltage may cause electric shock.

Do not disassemble the motor. Or it is possible to cause electric shock or
personnel injury.

Do not change the wiring when the power is on. Or it is possible to cause
electric shock or personnel injury.

Only the qualified electrical and electronics professionals can install, wire and
maintain the servo drive and servo motor.
Main Circuit Wiring

Do not put the power cable and the encoder cable in the same channel and
bond them together. Please separate the power cable and the encoder cable
for at least 30 centimeters (= 11.8 inches) when wiring.

Please use stranded wires and multi-core shielded-pair wires for the encoder
cables and encoder PG feedback cables. The maximum length of command
input cable is 3 meters (= 9.84 feet) and the maximum length of PG feedback
cable is 20 meters (= 65.62 feet).

The high voltage might remain in the servo motor even when the power is off.
Do not touch the power terminal temporally (at least 10 minutes). Please
conduct the inspection not until the indicator light, CHARGE is off.
April, 2013
iii
ASDA-M
Preface

Do not turn the power on and off too often. If continuous power on and off is
needed, please be ensured the interval is one minute at most.
Terminal Wiring of the Main Circuit

When wiring, please disassemble the terminal socket from the servo drive.

One terminal of the terminal socket for one electric wire only.

When inserting the electric wires, do not connect the conductor to the adjacent
wire.

Before connecting to the power, please inspect and be ensured the wiring is
correct.
NOTE
iv
If there is any difference of each version, please refer to DELTA’s
website (http://www.delta.com.tw/industrialautomation/) for the latest
information.
April, 2013
Table of Content
Chapter 1 Inspection and Model Explanation
1.1
Inspection ...................................................................................................... 1-1
1.2
Product Model .............................................................................................. 1-2
1.2.1 Nameplate Information ......................................................................... 1-2
1.2.2 Model Explanation ................................................................................ 1-3
1.3
Servo Drive and Corresponding Servo Motor ................................................ 1-5
1.4
Features of Servo Drive ................................................................................. 1-6
Chapter 2 Installation
2.1
Notes ............................................................................................................. 2-1
2.2
Ambient Conditions of Storage ...................................................................... 2-1
2.3
Ambient Conditions of Installation ................................................................. 2-2
2.4
Installation Direction and Space .................................................................... 2-3
2.5
Specification of Circuit Breaker and Fuse ...................................................... 2-5
2.6
EMI Filters Selection...................................................................................... 2-5
2.7
Selection of Regenerative Resistor ............................................................... 2-8
Chapter 3 Wiring
3.1
Connection between Peripheral Devices and Main Power Circuit ................. 3-1
3.1.1 Wiring Diagram of Peripheral Devices ................................................... 3-1
April, 2013
ASDA-M
Table of Content
3.1.2 Connectors and Terminals of the Servo Drive ....................................... 3-3
3.1.3 Wiring Method ....................................................................................... 3-5
3.1.4 Specification of Motor U, V, W Power Cable ......................................... 3-7
3.1.5 Specification of Connector of Encoder Cable ........................................ 3-9
3.1.6 Selection of Wire Rod ............................................................................ 3-12
3.2
Schematic Diagram of Servo System ............................................................ 3-14
3.3
I/O Signal (CN1) Connection ......................................................................... 3-15
3.3.1 I/O Signal (CN1) Connector Terminal Layout ....................................... 3-15
3.3.2 Explanation of I/O (CN1) Connector Signal .......................................... 3-17
3.3.3 Wiring Diagram (CN1) .......................................................................... 3-31
3.3.4 The Specified DI and DO Signal by the User........................................ 3-40
3.4
CN2 Connector .............................................................................................. 3-41
3.5
Wiring of CN3 Connector ............................................................................... 3-44
3.5.1 Layout of CN3 Connector ..................................................................... 3-44
3.5.2 Connection between CN3 connector and Personal Computer ............. 3-45
3.6
CN4 Serial Connector (USB) ......................................................................... 3-46
3.7
CN5 Connector (Full-closed Loop) ................................................................ 3-47
3.8
CN6 Connector (CANopen) ........................................................................... 3-48
3.9
Standard Wiring Method ................................................................................ 3-50
3.9.1
Position (PT) Mode Standard Wiring .................................................. 3-50
3.9.2
Position (PR) Mode Standard Wiring .................................................. 3-51
3.9.3
Speed Mode Standard Wiring ............................................................. 3-52
3.9.4
Torque Mode Standard Wiring ............................................................ 3-53
April, 2013
Table of Content
3.9.5
ASDA-M
CANopen Mode Standard Wiring ........................................................ 3-54
Chapter 4 Panel Display and Operation
4.1
Panel Description .......................................................................................... 4-1
4.2
Parameter Setting Procedure ........................................................................ 4-2
4.3
4.2.1
Axis Switching Procedure .................................................................... 4-2
4.2.2
Parameter Setting Procedure of Each Axis ......................................... 4-3
Status Display................................................................................................ 4-4
4.3.1 Setting Saved Display .......................................................................... 4-4
4.3.2 Decimal Point ....................................................................................... 4-4
4.3.3 Alarm Message..................................................................................... 4-4
4.3.4 Positive and Negative Sign Setting ....................................................... 4-4
4.3.5 Monitor Display ..................................................................................... 4-5
4.4
General Function ........................................................................................... 4-8
4.4.1 Operation of Fault Record Display ........................................................ 4-8
4.4.2 JOG Mode ............................................................................................ 4-9
4.4.3 Forced Digital Output Operation ........................................................... 4-10
4.4.4 Digital Input Diagnosis Operation ......................................................... 4-11
4.4.5 Digital Output Diagnosis Operation ...................................................... 4-12
Chapter 5
Trial Operation and Tuning
5.1
Inspection without Load ................................................................................. 5-1
5.2
Apply Power to the Servo Drive ..................................................................... 5-2
April, 2013
ASDA-M
Table of Content
5.3
JOG Trial Run without Load .......................................................................... 5-6
5.4
Trial Run without Load (Speed Mode) ........................................................... 5-7
5.5
Trial Run without Load (Position Mode) ......................................................... 5-9
5.6
Tuning Procedure .......................................................................................... 5-11
5.6.1 Flowchart of Tuning Procedure............................................................. 5-13
5.6.2 Inertia Estimation Flowchart (with Mechanism) .................................... 5-14
5.6.3 Flowchart of Auto Tuning ...................................................................... 5-15
5.6.4 Flowchart of Semi-auto Tuning ............................................................. 5-16
5.6.5 Limit of Load Inertia Estimation ............................................................ 5-18
5.6.6 Mechanical Resonance Suppression Method....................................... 5-20
5.6.7 Tuning Mode and Parameters .............................................................. 5-21
5.6.8 Tuning in Manual Mode ........................................................................ 5-22
Chapter 6 Control Mode of Operation
6.1
Selection of Operation Mode ......................................................................... 6-1
6.2
Position Mode ................................................................................................ 6-3
6.2.1 Position Command of PT Mode ............................................................ 6-3
6.2.2 Position Command of PR Mode ........................................................... 6-6
6.2.3 Control Structure of Position Mode ....................................................... 6-7
6.2.4 S-curve Filter (Position) ........................................................................ 6-8
6.2.5 Electronic Gear Ratio ........................................................................... 6-11
6.2.6 Low-pass Filter ..................................................................................... 6-13
6.2.7 Timing Diagram in Position Mode (PR) ................................................ 6-14
April, 2013
Table of Content
ASDA-M
6.2.8 Gain Adjustment of Position Loop ........................................................ 6-15
6.2.9 Low-frequency Vibration Suppression in Position Mode ....................... 6-17
6.3
Speed Mode .................................................................................................. 6-23
6.3.1 Selection of Speed Command .............................................................. 6-23
6.3.2 Control Structure of Speed Mode ......................................................... 6-24
6.3.3 Smooth Speed Command .................................................................... 6-26
6.3.4 The Scaling of Analog Command ......................................................... 6-30
6.3.5 The Timing Diagram in Speed Mode .................................................... 6-31
6.3.6 Gain Adjustment of Speed Loop ........................................................... 6-32
6.3.7 Resonance Suppression....................................................................... 6-38
6.4
Torque Mode ................................................................................................. 6-47
6.4.1 Selection of Torque Command ............................................................. 6-47
6.4.2 Control Structure of Torque Mode ........................................................ 6-48
6.4.3 Smooth Torque Command ................................................................... 6-49
6.4.4 The Scaling of Analog Command ......................................................... 6-50
6.4.5 The Timing Diagram in Torque Mode ................................................... 6-51
6.5
Dual Mode ..................................................................................................... 6-52
6.5.1 Speed/Position Dual Mode................................................................. 6-53
6.5.2 Speed/Torque Dual Mode .................................................................. 6-53
6.5.3 Torque/Position Dual Mode................................................................ 6-54
6.6
Others ............................................................................................................ 6-55
6.6.1 The Use of Speed Limit ........................................................................ 6-55
6.6.2 The Use of Torque Limit ....................................................................... 6-55
April, 2013
ASDA-M
Table of Content
6.6.3 Analog Monitor ..................................................................................... 6-56
6.6.4 The Use of Mechanical Brake............................................................... 6-61
Chapter 7 Motion Control
7.1
Motion Control Functions of ASDA-M ............................................................ 7-1
7.2
Information of the Servo Drive ....................................................................... 7-1
7.2.1 Description of Monitor Variables ........................................................... 7-3
7.2.2 Description of Data Array...................................................................... 7-9
7.3
Description of Motion Axes ............................................................................ 7-13
7.4
Description of PR Mode ................................................................................. 7-14
7.5
The Position Unit of PR Mode ....................................................................... 7-14
7.6
Description of Register in PR Mode............................................................... 7-14
7.7
Description of Homing in PR Mode................................................................ 7-16
7.8
DI/DO Provide by PR Mode and Diagrams ................................................... 7-16
7.9
Parameter Settings in PR Mode .................................................................... 7-18
7.10
7.9.1
The Relation between the Previous Path and Next Path .................... 7-27
7.9.2
Programming the Path in PR Mode .................................................... 7-28
The Description of E-Cam Function............................................................... 7-29
7.10.1 Function Description of CAPTURE (Data Capture) ............................ 7-38
7.10.2 Function Description of COMPARE (Data Compare) ......................... 7-41
Chapter 8 Parameters
8.1
Parameter Definition ...................................................................................... 8-1
April, 2013
Table of Content
ASDA-M
8.2
Parameters .................................................................................................... 8-2
8.3
Parameter Description ................................................................................... 8-12
P0-xx Monitor Parameters .............................................................................. 8-12
P1-xx Basic Parameters ................................................................................. 8-38
P2-xx Extension Parameters .......................................................................... 8-73
P3-xx Communication Parameters ................................................................. 8-109
P4-xx Diagnosis Parameters .......................................................................... 8-118
P5-xx Motion Setting Parameters ................................................................... 8-133
P6-xx PR Parameters..................................................................................... 8-188
P7-xx PR Parameters..................................................................................... 8-233
Table 8.1 Function Description of Digital Input (DI) ......................................... 8-276
Table 8.2 Function Description of Digital Output (DO) .................................... 8-283
Chapter 9 Communication
9.1
RS-485/RS-232 Communication Hardware Interface ................................. 9-1
9.2
RS-485/RS-232 Communication Parameters Setting ................................. 9-4
9.3
MODBUS Communication Protocol ............................................................... 9-8
9.4
Write-in and Read-out in Communication Parameters .................................. 9-19
Chapter 10 Troubleshooting
10.1
Alarm of Servo Drive ..................................................................................... 10-1
10.2
Alarm of CANopen Communication ............................................................... 10-4
10.3
Alarm of Motion Control ................................................................................. 10-7
April, 2013
ASDA-M
Table of Content
10.4
Causes and Corrective Actions ..................................................................... 10-11
10.5
Corrective Actions after the Alarm Occurs ..................................................... 10-32
Chapter 11 Specifications
11.1
Specifications of Servo Drive (ASDA-M Series) ............................................ 11-1
11.2 Specifications of Servo Motor (ECMA Series) ............................................... 11-4
11.3 Torque Features (T-N curve) ......................................................................... 11-12
11.4 Overload Features ......................................................................................... 11-14
11.5
Dimensions of the Servo Drive ...................................................................... 11-16
11.6
Dimensions of the Servo Motor ..................................................................... 11-18
Appendix A Accessories
Appendix B Maintenance and Inspection
April, 2013
Chapter 1 Inspection and Model Explanation
ASDA-M
Chapter 1 Inspection and Model
Explanation
1.1 Inspection
In order to prevent the negligence during purchasing and delivery, please inspect the
following items carefully.




Please check if the product is what you have purchased: check the part number of
the motor and the servo drive on the nameplate. Refer to the next page for the model
explanation.
Check if the motor shaft can rotate smoothly: Rotate the motor shaft by hand. If it
can be rotated smoothly, it means the motor shaft is normal. However, it cannot be
rotated by hand if the motor has an electromagnetic brake.
Check if there is any damage shown on its appearance: visually check if there is any
damage or scrape of the appearance.
Check if there is any loose screw: If the screws are un-tightened or fall off.
If any of the above situations happens, please contact the distributors to solve the
problems.
A complete and workable servo set should include:
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
(9)
(10)
(11)
(12)
(13)
(14)
April, 2013
A Servo drive and a servo motor
A UVW motor power cable, the U, V and W wires can connect to the socket
attached by the servo drive and another side is the plug which could connect to the
socket of the motor. And a green ground wire which should be locked to the ground
terminal of the servo drive. (selective purchase)
An encoder cable which connects to the socket of the encoder. One side of it
connects to CN2 servo drive and another side is the plug. (selective purchase)
50-PIN connector which is used in CN1 (3M analog product) (selective purchase)
20-PIN connector which is used in CN2 (3M analog product) (selective purchase)
6-PIN connector which is used in CN3 (IEEE 1394 analog product) and is for
general communication (RS485) (selective purchase)
4-PIN connector which used in CN4 (USB Type B product) (selective purchase)
RJ45 connector which used in CN6 and is for high-speed communication
(selective purchase)
Servo drive power input:
(a) 750W and 1.5 kW: 2 PIN fast connector (L1c, L2c)
(b) 750W and 1.5 kW: 3 PIN fast connector (R, S, T)
3 sets of 3-PIN fast connector (U, V, W)
4-PIN fast connector (P , D, C, )
A plastic lever (attached in all series)
A metal short-circuit chip (attached in all series)
An installation manual
1-1
ASDA-M
Chapter 1 Inspection and Model Explanation
1.2 Product Model
1.2.1 Nameplate Information
ASDA-M Series Servo Drive

Nameplate Information

Serial Number
ECMA Series Servo Motor

Nameplate Information

Serial Number
1-2
April, 2013
Chapter 1 Inspection and Model Explanation
ASDA-M
1.2.2 Model Explanation
ASDA-M Series Servo Drive
A S D - M - 0 7 2 1 - L
Model Type
Input Voltage and
Phase
21: 220V 1 phase
23: 220V 3 phase
Rated Power Input
07: 750W
15: 1.5kW
20: 2.0kW
Product Series
M
Product Name
AC SERVO Drive
Model Type
Type
L
M
F
R
April, 2013
Full-closed
Loop
○
○
○
○
CANopen
DMCNET
×
○
×
×
×
×
○
○
Expansion Slot
for Digital Input
×
×
×
○
1-3
ASDA-M
Chapter 1 Inspection and Model Explanation
ECMA Series Servo Motor
E C M A - C 1 0 6 0 2 E S
Standard Shaft Diameter: S
Specific Shaft Diameter: 3=42mm,
7=14mm
Type of Shaft
Diameter and
Oil Seal
w/o
Brake
w/o Oil
Seal
with
Brake
w/o Oil
Seal
w/o
Brake
with Oil
Seal
With
Brake
With Oil
Seal
Round Shaft
(with fixed
screw holes)
A
B
C
D
Keyway
E
F
G
H
Keyway
(with fixed
screw holes)
P
Q
R
S
Rated Power Output
01:100W
05:500W
02:200W
06:600W
03:300W
07:700W
04:400W
10:1.0kW
15:1.5kW
20:2.0kW
09:900W
Motor Frame Size
04: 40mm 09: 86mm 18:180mm
06: 60mm 10:100mm
08: 80mm 13:130mm
Name of the Series
Rated Voltage and Rated Speed
C = 220V/3,000 rpm; E = 220V/2,000 rpm;
G = 220V/1,000 rpm;
Sensor Type
1: Incremental,20-bit (For the drive which
is under 3kW)
2: Incremental, 17-bit
A: Absolute
Servo Type
A:AC Servo
Product Name
ECM: Electronic
Commutation Motor
1-4
April, 2013
Chapter 1 Inspection and Model Explanation
ASDA-M
1.3 Servo Drive and Corresponding Servo Motor
ASDA-M Series Servo Drive
Servo Drive
750W
ASD-M-0721-
1500W
ASD-M-1521-
2000W
ASD-M-2023-
NOTE 1)
2)
Corresponding Servo Motor
ECMA-C△0401S(S=8mm)
ECMA-C△0602S(S=14mm)
ECMA-C△0604S(S=14mm)
ECMA-C△08047(7=14mm)
ECMA-C△0807S(S=19mm)
ECMA-C△0907S(S=16mm)
ECMA-E△1305S(S=22mm)
ECMA-G△1303S(S=22mm)
ECMA-G△1306S(S=22mm)
ECMA-C△0807S(S=19mm)
ECMA-C△0907S(S=16mm)
ECMA-C△0910S(S=16mm)
ECMA-C△1010S(S=22mm)
ECMA-E△1310S(S=22mm)
ECMA-E△1315S(S=22mm)
ECMA-G△1309S(S=22mm)
ECMA-C△0910S(S=16mm)
ECMA-C△1010S(S=22mm)
ECMA-E△1310S(S=22mm)
ECMA-E△1315S(S=22mm)
ECMA-C△1020S(S=22mm)
ECMA-E△1320S(S=22mm)
ECMA-E△1820S(S=35mm)
Box, () at the end of the model name of the servo drive represents
the code of ASDA-M. Please refer to the type of purchasing product
information.
Box, (△) in the mode name of the servo motor represents the type of
encoder. △=1: incremental, 20-bit;△=2: incremental, 17-bit.
3)
Box, () in the model name of the servo motor represents the type of
brake or keyway / oil seal.
The above table shows the specification of servo drive which has triple rated current. If the
user needs the servo drive which has six times of the rated current, please contact with
distributors. For detailed specification of the servo motor and servo drive, please refer to
the appendix.
April, 2013
1-5
ASDA-M
1.4
Chapter 1 Inspection and Model Explanation
Features of Servo Drive
ASDA-M Series Servo Drive
1-6
April, 2013
Chapter 1 Inspection and Model Explanation
ASDA-M
ASDA-M Series Servo Drive (top view)
April, 2013
1-7
ASDA-M
Chapter 1 Inspection and Model Explanation
ASDA-M Series Servo Drive (bottom view)
1-8
April, 2013
Chapter 2 Installation
ASDA-M
Chapter 2 Installation
2.1 Notes
Please pay special attention to the followings:
1) Do not strain the cable connection between the servo drive and the servo motor.
2) Make sure each screw is tightened when fixing the servo drive.
3) The motor shaft and the ball screw should be parallel.
4) If the connection between the servo drive and the servo motor is over 20 meters, please
thicken the connecting wire, UVW as well as the encoder cable.
5) Tighten the fixed four screws of the motor.
2.2 Ambient Conditions of Storage
Before the installation, this product has to be kept in shipping carton. In order to retain the
warranty coverage and for the maintenance, please follow the instructions below when
storage, if the product is not in use temporally:

Store the product in a dry and dust-free location.

Store the product within an ambient temperature range of -20℃ to +65℃.

Store the product within a relative humidity range of 0% to 90% and a non-condensing
environment.

Avoid storing the product in the environment of corrosive gas and liquid.

It is better to store the product in shipping carton and put it on the shelf or working
platform.
April, 2013
2-1
ASDA-M
Chapter 2 Installation
2.3 Ambient Conditions of Installation
The best temperature of this servo drive is between 0℃ and 55℃. If the temperature is over
45℃, please place the product in a well-ventilated environment so as to ensure its reliability
performance. If the product is installed in an electric box, make sure the size of the electric
box and its ventilation condition will not overheat and endanger the internal electronic
device. Also, pay attention to the vibration of the machine. Check if the vibration will
influence the electronic device of the electric box. Besides, the ambient conditions should
also include:

Location has no over-heat device.

Location has no water drop, vapor, dust and oily dust.

Location has no corrosive and inflammable gas and liquid.

Location has no airborne dust and metal particles.

Location has solid foundation and no vibration.

Location has no interference of electromagnetic noise.
The ambient temperature of the motor is between 0℃ and 40℃ and the ambient conditions
include:

Location has no over-heat device.

Location has not water drop, vapor, dust and oily dust.

Location has no corrosive and inflammable gas and liquid.

Location has no airborne dust and metal particles.
2-2
April, 2013
Chapter 2 Installation
ASDA-M
2.4 Installation Direction and Space
Notes:
Follow the instructions for installation direction. Otherwise it is possible to cause
malfunction. In order to have well-cooling and circulation effect, the enough space between
adjacent objects and the baffle is needed. Or it might result in malfunction. When installing
AC servo drive, do not seal the suction hole and the vent hole. Do not place the drive in a
horizontal direction, or it might cause malfunction.
April, 2013
2-3
ASDA-M
Chapter 2 Installation
Dimensions:
In order to have smaller wind resistance of the fan and increase the ventilation, please
follow the suggested clearance value when installing one or more than one servo drives.
(Refer to the following diagrams)
NOTE
2-4
The above diagrams are not in equal proportion. Please refer to the
annotation.
April, 2013
Chapter 2 Installation
ASDA-M
2.5 Specification of Circuit Breaker and Fuse
Caution: Please use the fuse and circuit breaker that is recognized by UL/CSA.
Servo Drive Model
Circuit breaker
Fuse (Class T)
Operation Mode
General
General
ASD-M-0721-
30A
50A
ASD-M-1521-
70A
140A
ASD-M-2023-
70A
140A
NOTE
If the servo drive equips with earth leakage circuit breaker for avoiding
electric leakage, please choose the current sensitivity which is over
200mA and can continue up to 0.1 seconds.
2.6 EMI Filters Selection
Item
1
2
3
Power
750W
1500W
2000W
Servo Drive Model
ASD-M-0721-
ASD-M-1521-
ASD-M-2023-
EMI Filter Model
20TDT1W4D
20TDT1W4D
20TDT1W4D
FootPrint
N
N
N
EMI Filter Installation
All electronic equipment (including servo drive) generates high or low frequency noise
during operation and interfere the peripheral equipments via conduction or radiation. With
EMI Filter and the correct installation, much interference can be eliminated.
When installing servo drive and EMI Filter, please follow the instructions of the user manual
and make sure it meets the following specification.
1. EN61000-6-4 (2001)
2. EN61800-3 (2004) PDS of category C2
3. EN55011+A2 (2007) Class A Group 1
General Precaution
In order to ensure the best performance of EMI Filter, apart from the instructions of servo
drive installation and wiring, please follow the precautions mention below:
1. The servo drive and EMI Filter should be installed on the same metal plate.
April, 2013
2-5
ASDA-M
Chapter 2 Installation
2. When installing servo drive and EMI Filter, the servo drive should be installed above
the EMI Filter.
3. The wiring should be as short as possible.
4. The metal plate should be well grounded.
5. The metal cover of the servo drive and EMI Filter or grounding should be firmly fixed
on the metal plate. Also, the contact area should be as large as possible.
Motor Cable Selection and Installation Precautions
The selection of motor cables and correct installation affect the performance of EMI Filter.
Please follow the precautions mention below.
1. Use the cable that has braid shielding (The effect of double shielding is better)
2. The shield on both sides of the motor cable should be grounded in the shortest
distance and the largest contact area.
3. The protective paint of the U-shape saddle and metal plate should be removed in
order to ensure the good contact. Please see disgram 1.
4. It should have correct connection between the braid shielding of the motor cable and
the metal plate. The braid shielding on both sides of the motor cable should be fixed
by the U-shape saddle and metal plate. Please see diagram 2 for the correct
connection.
Diagram 1
2-6
Diagram 2
April, 2013
Chapter 2 Installation
ASDA-M
Dimensions of EMI Filter
Delta Part Number: 20TDT1W4D
April, 2013
2-7
ASDA-M
Chapter 2 Installation
2.7 Selection of Regenerative Resistor
When the direction of pull-out torque is different from the rotation, it means the electricity is
sent back to the servo drive from the load-end. It becomes the capacitance of DC Bus and
increases the voltage. When the voltage increases to a specific value, the come-back
eletricity can only be consumed by regenerative resistor. There is a built-in regenerative
resistor in the servo drive. Users can also use the external regenerative resistor if needed.
The following table is the specification of built-in regenerative resistor provided by ASDA-M
series.
Servo Drive
Specification of built-in
regenerative resistor
*1 The capacity of Minimum allowable
built-in regenerative
resistance
resistor
(Ohm)
(Watt)
(kW)
Resistance
(P1-52) (Ohm)
Capacity
(P1-53) (Watt)
0.75
40
60
30
30
1.5
20
100
50
20
2.0
20
100
50
20
*1 The capacity of built-in regenerative resistor (average value) is 50% of the rated capacity
of the built-in regenerative resistor. The capacity of the external regenerative resistor is
the same as the built-in one.
When the regenerative resistor exceeds the capacity of built-in regenerative resistor, the
external regenerative resistor should be applied. Please pay special attention to the
followings when using the regenerative resistor.
1. Please correctly set up the resistance (P1-52) and capacity (P1-53) of the
regenerative resistor. Or it might influence the performance of this function.
2. If users desire to use the external regenerative resistor, please make sure the applied
value is the same as the built-in regenerative resistor. If users desire to connect it in
parallel to increase the power of regenerative resistor, please make sure the
capacitance meets the requirements.
3. In natural environment, if the capacity of regenerative resistor (the average value) is
within the rated capacity, the temperature of the capacitance will increase to 120℃ or
even higher (under the condition of regenerative energy keeps existing). For safety
concerns, please apply the method of forced cooling in order to reduce the
temperature of regenerative resistor. Or, it is suggested to use the regenerative
2-8
April, 2013
Chapter 2 Installation
ASDA-M
resistor which is equipped with thermal switches. Please contact the distributors for
load characteristics of the regenerative resistor.
When using the external regenerative resistor, the resistor should connect to P, C terminal
and the contact of P, D terminal should be opened. It is recommended to choose the above
mentioned capacitance. For easy calculation of regenerative resistor capacity, except the
energy consumed by IGBT, two ways are provided to select the capacity of external
regenerative resistor.
(1) Regenerative Power Selection
(a) When the external load on torque does not exist
If the motor operates back and forth, the energy generated by the brake will go into
the capacitance of DC bus. When the voltage of the capacitance exceeds a specific
value, the redundant energy will be consumed by regenerative resistor. Two ways of
selecting regenerative resistor are provided here. The table below provides the
energy calculation method. Users can refer to it and calculate the selected
regenerative resistor.
Servo Drive
(kW)
Low
Motor
The
Regenerative power Maximum
Rotor Inertia
from empty load
regenerative
J
3000r/min to stop
power of
2
(× 10-4kg.m )
capacitance
Eo (joule)
Ec (joule)
0.1
ECMA-C10401□□
0.037
0.18
3
0.2
ECMA-C10602□□
0.177
0.87
4
ECMA-C10604□□
0.277
1.37
ECMA-C10804□□
0.68
3.36
0.75 ECMA-C10807□□
1.13
5.59
14
1.0
ECMA-C11010□□
2.65
13.1
18
2.0
ECMA-C11020□□
4.45
22.0
21
0.4
ECMA-E11305□□
8.17
40.40
8
1.0
ECMA-E11310□□
8.41
41.59
18
1.5
ECMA-E11315□□
11.18
55.28
18
0.4
8
Inertia
Medium
Inertia
April, 2013
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ASDA-M
Chapter 2 Installation
ECMA-E11320□□
14.59
72.15
ECMA-E11820□□
34.68
171.50
ECMA-G11303□□
8.17
40.40
8
0.75 ECMA-G11306□□
8.41
41.59
14
1.0
11.18
55.29
18
2.0
0.4
High
Inertia
ECMA-G11309□□
Eo= J * wr2/182(joule)
21
, Wr : r/min
Assume the load inertia is N times to the motor inertia and the motor decelerates from
3000r/min to 0, its regenerative energy is (N+1) × Eo. The consumed regenerative
resistor is (N+1) × Eo-Ec joule. If the cycle of back and forth operation is T sec, then
the power of regenerative resistor it needs is 2×((N+1) × Eo-Ec)/ T.
Followings are the calculation procedure:
Steps
1
2
Item
Set the capacity of regenerative
resistor to the maximum
Set T cycle of back and forth
operation
Calculation and Setting Method
Set P1-53 to the maximum value
Enter by the user
3
Set the rotational speed wr
Enter by the user or read via P0-02
4
Set the load/motor inertia ratio N
Enter by the user or read via P0-02
5
6
7
Calculate the maximum
regenerative energy Eo
Set the absorbable regenerative
energy Ec
Calculate the needful capacitance
of regenerative resistor
Eo= J * wr2/182
Refer to the above table
2 ×((N+1) × Eo-Ec)/ T
Take 400W as the example, the cycle of back and forth operation is T = 0.4sec, the
maximum speed is 3000r/min and the load inertia is 7 times to the motor inertia. Then,
the needful power of regenerative resistor is 2 ×((7+1) × 1.68-8)/ 0.4 = 27.2W. If it is
2-10
April, 2013
Chapter 2 Installation
ASDA-M
smaller than the built-in capacity of regenerative resistor, the built-in 60W
regenerative resistor will do. Generally speaking, when the need of the external load
inertia is not much, the built-in regenerative is enough. The diagram below describes
the actual operation. The smaller power of the regenerative resistor it has, the more
energy it accumulates and the higher temperature will be. When the temperature is
higher than a specific value, ALE05 occurs.
(b) When the external load torque exists, the motor is in reverse rotation.
Usually, the motor is in forward rotation, which means the torque output direction of
the motor is the same as the rotation direction. However, in some applications, the
direction of torque output is different from the rotation. In this situation, the motor is in
reverse rotation. The external energy goes into the servo drive through the motor. The
diagram below is one of the examples. When the motor is in constant speed, it is
positive torque in most of the time and a huge amount of energy rapidly transmits to
regenerative resistor.
Negative torque: TL × Wr
TL: external load torque
For safety reasons, please calculate it by considering the safest situation.
For example, when the external load torque is the +70% rated torque and the rotation
reaches 3000 r/min, then take 400W (the rated torque is 1.27Nt-m) as the example,
April, 2013
2-11
ASDA-M
Chapter 2 Installation
the user has to connect the regenerative resistor which is 2 ×(0.7×1.27) ×(3000 × 2 × π
/60) = 560W.
(2) Simple Selection
Choose the appropriate regenerative resistor according to the allowable frequency
and empty load frequency in actual operation. The so-called empty allowable
frequency is the frequency of continuous operation when the servo motor runs from
0r/min to the rated speed and then decelerates from the rated speed to 0r/min. The
following table lists the allowable frequency of built-in regenerative resistor when the
servo drive runs without load (times/min).
Allowable frequency of built-in regenerative resistor when the servo drive runs without load
(times/min)
600W
750W
900W
1.0kW
1.5kW
06
07
09
10
15
ECMA□□C
-
312
-
137
-
ECMA□□E
-
-
-
42
32
ECMA□□G
42
-
31
-
-
Motor Capacity
Corresponding
Motor
When the servo motor runs with load, the allowable frequency will be different
according to different load inertia or speed. The following is the calculation method.
m represents load / motor inertia ratio.
2
Allowable fr equency =
Allowable frequency when serv o motor run without load
m+1
x
Rated s peed
Operating speed
times
mi n.
The comparison table of external regenerative resistor is provided below. Please
choose the appropriate regenerative resistor according to the allowable frequency.
The table below describes the suggested allowable frequency (times/min) of
regenerative resistor when the servo drive runs without load.
2-12
April, 2013
Chapter 2 Installation
ASDA-M
Allowable frequency of regenerative resistor when the servo drive runs without load
(times/min)
ECMA□□C
Motor Capacity
400W
400W
(F60)
(F80)
02
04
BR400W040 (400W 40Ω)
-
BR1K0W020 (1kW 20Ω)
-
200W
750W
1.0kW
04
07
10
8608
3506
2110
925
-
8765
5274
2312
Suggested Regenerative
Resistor
ECMA□□E
Motor Capacity
0.5kW
1kW
1.5kW
05
1.0
15
BR400W040 (400W 40Ω)
291
283
213
BR1K0W020 (1kW 20Ω)
729
708
533
Suggested Regenerative
Resistor
ECMA□□G
Motor Capacity
0.3kW
0.6kW
0.9kW
03
06
09
BR400W040 (400W 40Ω)
292
283
213
BR1K0W020 (1kW 20Ω)
729
708
533
Suggested Regenerative
Resistor
If watt is not enough when using regenerative resistor, connecting the same regenerative
resistor in parallel can increase the power.
ASDA-M can control three motors at the same time. If the energy of three
NOTE
motors goes into the servo drive, the power of regenerative resistor
needs to be increased to three times of the origin.
April, 2013
2-13
ASDA-M
Chapter 2 Installation
Dimensions of Regenerative Resistor
Delta Part Number: BR400W040 (400W 40Ω)
L1
265
L2
250
H
30
D
5.3
W
60
MAX. WEIGHT (g)
930
W
100
MAX. WEIGHT (g)
2800
Delta Part Number: BR1K0W020 (1kW 20Ω)
L1
400
2-14
L2
385
H
50
D
5.3
April, 2013
Chapter 2 Installation
ASDA-M
Delta Part Number: BR1K5W005 (3kW 10Ω)
April, 2013
2-15
ASDA-M
Chapter 2 Installation
(This page is intentionally left blank.)
2-16
April, 2013
Chapter 3 Wiring
ASDA-M
Chapter 3 Wiring
This chapter details the wiring method of servo drive, the definition of each signal and
standard wiring diagram.
3.1 Connection between Peripheral Devices and Main Power
Circuit
3.1.1 Wiring Diagram of Peripheral Devices
April, 2013
3-1
ASDA-M
Chapter 3 Wiring
NOTE
3-2
Installation Notes:
1) Check if the power and wiring among R, S, T and L1c, L2c are
correct.
2) Check if the output terminal U, V, W of the servo motor is correctly
wired. The incorrect wiring may disable the operation of the motor or
cause the malfunction.
3) When applying to the external regenerative resistor, the contact
between P and D should be opened and the external regenerative
resistor should connect to terminal P and C. When applying to the
internal regenerative resistor, the contact between P and D should
be closed and the contact between P and C should be opened.
4) When an alarm occurs or the system is in emergency stop status,
use ALARM or WARN to output and disconnect the power of
magnetic contactor in order to disconnect the power of servo drive.
April, 2013
Chapter 3 Wiring
ASDA-M
3.1.2 Connectors and Terminals of the Servo Drive
Terminal
Signal
L1c, L2c
R, S, T
U, V, W
FG
Name
Power input
control circuit
Description
of
the Connect to single-phase AC power (select the
appropriate voltage specification according to the
product )
Power input of the main Connect to three-phase AC power (select the appropriate
circuit
voltage specification according to the product)
Motor cable
Connect to the motor
Terminal
Symbol
Wire
Color
U
Red
V
White
W
Black
CN1
CN2
,
Three-phase main power cable of
the motor
Connect to the grounding
of
the servo drive.
D, Regenerative resistor Use internal resistor The contact between P and D
terminal or brake unit
end should be closed; contact
between P and C end should be
opened.
Use
external Connect P , C ends to the
resister
resistor and the contact between
P and D end should be opened.
Use
external P and P of the brake unit
braking unit
should connect to P and P
respectively. The contact between
P and D and P and C should
be opened.
Connect to the ground wire of the power and the servo
Ground terminal
motor
I/O connector (option)
Connect to the host controller, please refer to Section 3.3
FG
P
C,
Description
Connector (option)
Green
Connect to the encoder of the motor, please refer to
Section 3.4
Terminal symbol
Wire Color
Pin No
T+
Blue
5
T-
Blue / Black
4
reserved
-
-
reserved
-
-
Red /
14,16
Red & White
Black /
GND
13,15
Black & White
Connect to RS-485 or RS-232, please refer to Section
3.5
Connect to personal computer (PC or NOTEBOOK),
please refer to Section 3.6
Connect to the linear scale or encoder to constitute a
full-closed loop, please refer to Section 3.7
+5V
CN3
Connector (option)
CN4
USB connector
(Type B) (option)
Connector (option)
CN5
April, 2013
3-3
ASDA-M
Terminal
Signal
CN6
Chapter 3 Wiring
Name
CANopen
(option)
Description
connector RJ45 connector, please refer to Section 3.8
Pay special attention to the followings when wiring:
1) When the power is cutoff, do not touch R, S, T and U, V, W since the capacitance
inside the servo drive still contains huge amount of electric charge. Wait until the
charging light is off.
2) Separate R, S, T and U, V, W from the other wires. The interval should be at least 30
cm (11.8 inches).
3) If the wire of encoder CN2 or CN5 connecter is not long enough, please use shielded
twisted-pair cable which cannot exceed 20 meters (65.62 inches). If it exceeds 20
meters, please choose the bigger wire diameter of signal cable to ensure it will not
cause signal fading. As for the encoder wiring specification of 20-meter-long cable,
please use AWG26 of wire size and Metal braided shield twisted-pair cable which
complies with the standard of UL 2464.
4) When using CANopen, please use the standard shielded twisted-pair cables to
ensure the communication quality.
5) When selecting the wire rod, please refer to Section 3.1.6.
3-4
April, 2013
Chapter 3 Wiring
ASDA-M
3.1.3 Wiring Method
The wiring method of ASDA-M servo drive is divided into single-phase and three-phase.
In the diagram below, Power On is contact a, Power Off and ALRM_RY are contact b.
MC is the coil of magnetic contactor and self-remaining power and is the contact of main
power circuit.
Wiring Method of Single-phase Power Supply ( suitable for all series)
SR
MCCB
Noise Filter
Power
On
Power
Off
MC
MC
ALRM_RY
SUP
MC
U_X
R
V_X
S
Motor_X
W_X
T
L1C
Servo Drive
U_Y
V_Y
L2C
DC24V
DO3+_X
ALRM_RY
DO3-_X
Motor_Y
W_Y
U_Z
V_Z
Motor_Z
W_Z
DC24V
DO3+_Y
ALRM_RY
DO3-_Y
DC24V
DO3+_Z
ALRM_RY
DO3-_Z
April, 2013
3-5
ASDA-M
Chapter 3 Wiring
Wiring Method of Three-phase Power Supply ( suitable for all series)
3-6
April, 2013
Chapter 3 Wiring
ASDA-M
3.1.4 Specification of Motor U, V, W Power Cable
Motor Model
ECMA-C10401
ECMA-C10602
ECMA-C10604
ECMA-C10804
ECMA-C10807
ECMA-C20401
ECMA-C20602
ECMA-C20604
ECMA-C20804
ECMA-C20807
S (100W)
S (200W)
S (400W)
7 (400W)
S (750W)
S (100W)
S (200W)
S (400W)
7 (400W)
S (750W)
ECMA-C10401
ECMA-C10602
ECMA-C10604
ECMA-C10804
ECMA-C10807
ECMA-C20602
ECMA-C20604
ECMA-C20804
ECMA-C20807
ECMA-C20907
S (100W)
S (200W)
S (400W)
7 (400W)
S (750W)
S (200W)
S (400W)
7 (400W)
S (750W)
S (750W)
U、V、W/Connector of Mechanical Brake
Terminal
Definition
A
HOUSING: JOWLE (C4201H00-2*2PA)
B
HOUSING:JOWLE (C4201H00-2*3PA)
* :with brake
April, 2013
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ASDA-M
Chapter 3 Wiring
Motor Model
ECMA-G11303
ECMA-E11305
ECMA-G11306
ECMA-G11309
ECMA-C11010
ECMA-E11310
ECMA-E11315
ECMA-E21305
ECMA-C20910
ECMA-C21010
ECMA-E21310
ECMA-E21315
ECMA-C21020
ECMA-E21320
U、V、W/Connector of Mechanical Brake
S (300W)
S (500W)
S (600W)
S (900W)
S (1000W)
S (1000W)
S (1500W)
S(500W)
S(1000W)
S(1000W)
S(1000W)
S(1500W)
S(2000W)
S(2000W)
C
ECMA-E21820 S(2000W)
Wiring Name
Terminal
Definition A
Terminal
Definition B
Terminal
Definition C
Terminal
Definition D
Terminal
Definition
D
U
(Red)
V
(White)
W
(Black)
CASE GROUND BRAKE1
(Green)
(Yellow)
BRAKE2
(Blue)
1
2
3
4
-
-
1
2
4
5
3
6
F
I
B
E
G
H
D
E
F
G
A
B
When selecting the wire rod, please choose 600V PVC cable and the length should not
longer than 30m. If the length exceeds 30m, please take the received voltage into
consideration when selecting the wire size. Please refer to Section 3.1.6 for wire rod
selection.
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April, 2013
Chapter 3 Wiring
ASDA-M
NOTE
Box, ( ) in servo motor model represents brake or keyway / oil seal.
3.1.5 Specification of Connector of Encoder Cable
Encoder connection diagram 1:
NOTE This diagram shows the connection between the servo drive and the
motor encoder. It is not drew by the practical scale and specification will
be different according to the selected servo drive and motor model.
1) Please refer to the Section of Specification and Definition of Encoder
Connector.
2) Please refer to Section 3.4 CN2 Connector.
Motor Model
ECMA-C10401
ECMA-C10602
ECMA-C10604
ECMA-C10804
ECMA-C10807
ECMA-C20401
ECMA-C20602
ECMA-C20604
ECMA-C20804
ECMA-C20807
ECMA-C20907
April, 2013
Connector of Encoder Cable
S (100W)
S (200W)
S (400W)
7 (400W)
S (750W)
S(100W)
S(200W)
S(400W)
7(400W)
S(750W)
S(750W)
3-9
ASDA-M
Chapter 3 Wiring
Specification and Definition of Encoder Connector:
If not using housing and directly wire the cores, please follow the corresponding core
number for wiring. For example, core number 1 from the servo drive CN2 should connect to
core number 1 from the motor encoder; core number 2 from the servo drive CN2 should
connect to core number 2 from the motor encoder and so on. Please number the cores
from the servo drive in order and then connect it to the encoder.
3-10
April, 2013
Chapter 3 Wiring
ASDA-M
Encoder connection diagram 2:
NOTE This diagram shows the connection between the servo drive and the
motor encoder. It is not drew by the practical scale and specification will
be different according to the selected servo drive and motor model.
1) Please refer to Section 3.4, CN2 Connector.
Motor Model
ECMA-G11303 S (300W)
ECMA-E11305 S (500W)
ECMA-G11306 S (600W)
ECMA-G11309 S (900W)
ECMA-C11010 S (1000W)
ECMA-E11310 S (1000W)
ECMA-E11315 S (1500W)
ECMA-E21305 S(500W)
ECMA-C20910 S(1000W)
ECMA-C21010 S(1000W)
ECMA-E21310 S(1000W)
ECMA-E21315 S(1500W)
April, 2013
Connector of Encoder Cable
Pin
No.
A
B
S
R
L
Terminal
Symbol
T+
Wire
Color
Blue
Blue &
TBlack
Red /
DC+5V Red &
White
Black /
GND Black &
White
BRAID
–
SHIELD
3-11
ASDA-M
Chapter 3 Wiring
ECMA-C21020 S(2000W)
ECMA-E21320 S(2000W)
ECMA-E21820 S(2000W)
Please select shielded multi-core and the shielded cable should connect to the SHIELD
end. Please refer to the description of Section 3.1.6.
NOTE
3.1.6
Box, ( ) in servo motor model represents brake or keyway / oil seal.
Selection of Wire Rod
The recommended wire rods are shown as the following table.
Servo Drive and corresponding
Motor Model
ASD-M-0721-
ASD-M-1521-
ASD-M-2023-
3-12
ECMA-C△0401
ECMA-C△0602
ECMA-C△0604
ECMA-C△0804
ECMA-C△0807
ECMA-C△0907
ECMA-E△1305
ECMA-G△1303
ECMA-G△1306
ECMA-C△0910
ECMA-C△1010
ECMA-E△1310
ECMA-E△1315
ECMA-G△1309
ECMA-C△0807
ECMA-C△0907
ECMA-C11020
ECMA-E11320
ECMA-E11820
ECMA-C21020
ECMA-E21320
ECMA-E21820
ECMA-C△0910
ECMA-C△1010
ECMA-E△1310
ECMA-E△1315
S
S
S
7
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
S
Power Wiring-Wire Diameter mm² (AWG)
L1c, L2c
R, S, T
U, V, W
P ,C
1.3(AWG16)2.1(AWG14)0.82(AWG18)2.1(AWG14)
1.3(AWG16)3.3(AWG12)1.3(AWG16)3.3(AWG12)
1.3(AWG16)3.3(AWG12)1.3(AWG16)3.3(AWG12)
1.3(AWG16)2.1(AWG14)2.1(AWG14)2.1(AWG14)
1.3(AWG16)2.1(AWG14)3.3(AWG12)2.1(AWG14)
1.3(AWG16)3.3(AWG12)1.3(AWG16)3.3(AWG12)
April, 2013
Chapter 3 Wiring
ASDA-M
Servo Drive
Model
Size
Encoder Wiring —Wire Diameter mm² (AWG)
Number
Specification
Standard Length
ASD-M-0721-
0.13(AWG26)
ASD-M-1521-
0.13(AWG26)
ASD-M-2023-
0.13(AWG26)
NOTE
10 cores
(4 pairs)
10 cores
(4 pairs)
10 cores
(4 pairs)
UL2464
3 mm (9.84 inches)
UL2464
3 mm (9.84 inches)
UL2464
3 mm (9.84 inches)
1)
Please use shielded twisted-pair cable for encoder wiring so as to
reduce the interference of the noise.
2) The shield should connect to the
phase of SHIELD.
3) Please follow the Selection of Wire Rod when wiring in order to avoid
the danger it may occur.
4) Box, ( ) at the end of the servo drive model represents the model
code of ASDA-M. Please refer to the model information of the
product you purchased.
5) Box, ( ) in servo motor model represents brake or keyway / oil seal.
April, 2013
3-13
ASDA-M
Chapter 3 Wiring
3.2 Schematic Diagram of Servo System
750W~2KW Model (Built-in Regenerative Resistor and Fan)
NOTE
3-14
1) The extension socket CN6 of ASD-M-0721-M model and ASD-M-1521-M is the function of
CANopen.
2) The extension socket CN6 of ASD-M-0721-F model and ASD-M-1521-F is the function of
DMCNET.
3) ASD-M-0721-L model and ASD-M-1521-L model have no extension socket CN6.
April, 2013
Chapter 3 Wiring
ASDA-M
3.3 I/O Signal (CN1) Connection
3.3.1 I/O Signal (CN1) Connector Terminal Layout
In order to have a more flexible communication with the master, 9 programmable Digital
Outputs (DO) and 18 programmable Digital Inputs (DI) are provided. The setting of 6 digital
inputs and 3 digital outputs of each axis provided by ASDA-M, which are parameter
P2-10~P2-15 and parameter P2-18~P2-20 respectively. In addition, the differential output
encoder signal, A+, A-, B+, B-, Z+ and Z-, input of analog torque command, analog
speed/position command and pulse position command are also provided. The followings
are the pin diagrams.
CN1 Connector (female)
Side view
Rear view
The rear wiring terminal of CN1 connector
April, 2013
3-15
ASDA-M
Chapter 3 Wiring
1
2
DO3-
Digital output
3
4
6
8
DO2-
DO1DI4-
Digital output
5
DO2+
Digital
output
7
DO1+
Digital
output
Digital output
Digital input
9
10 DI2-
Digital
output
Digital
DO3+
output
DO4+
DI1-
Digital input
11 COM+
12 GND
Analog input
signal
ground
No
connection
Analog
16 MON1 monitor
output 1
25 OB
3-16
Digital input
33 DI5-
Digital input
PULL
35 HI_S
(Sign)
Analog input
signal
ground
signal (+)
PULL
39 HI_P
(Pulse)
Pull-high
voltage of
pulse
41 /PULSE
Position
command
+24V power
output (for
external I/O) 43 PULSE
Analog input
signal
ground
Digital output
28 DO5+
Digital output
30 DI8-
Digital input
32 DI6-
Digital input
Position
command
45 COM-
Encoder/
B
pulse
49 COMoutput
VDD(24V)
power
ground
VDD(24V)
power
ground
Digital input
Position
command
signal (-)
High-speed
position
38 HPULSE command
pulse (+)
High-speed
position
40 /HSIGN command
(-)
Speed analog
command
42 V_REF
input
(+)
pulse (-)
Encoder/
A
pulse
output
47 COM-
Encoder/
B
pulse
output
26 DO4-
34 DI3Pull-high
voltage of
sign
36 SIGN
Position
command
pulse (+)
23 /OB
Encoder/
Z
pulse
output
NOTE
31 DI7-
(12~24V)
Analog
15 MON2 monitor
output 2
Torque
17 VDD
analog
18 T_REF
command
input
+12
power 19 GND
output
(for
20 VCC
analog
command)
21 OA
Encoder/
22 /OA
A
pulse
output
24 /OZ
Power input
pulse (-)
37 /SIGN
13 GND
14 NC
Digital input
Digital
output
High-speed
position
29 /HPULSE command
27 DO5-
44 GND
Analog input
signal ground
46 HSIGN
High-speed
position
command
(+)
VDD(24V) 48 OCZ
power
ground
50 OZ
Encoder
Z
pulse
open-collector
output
Encoder
Z
pulse
differential
output
NC means NO CONNECTION. This terminal is for internal use only. Do
not connect it, or it may damage the servo drive.
April, 2013
Chapter 3 Wiring
ASDA-M
3.3.2 Explanation of I/O (CN1) Connector Signal
The following details the signals listed in previous section:
General Signals
Signal Name
Pin No
Function
Wiring
Method
(Refer to
3.3.3)
(1) The speed command of the motor is
-10V ~ +10V which means the speed
command is -3000 ~ +3000 r/min
V_REF
42
Analog
Command
(input)
(default).
It
can
change
the
corresponding range via parameters.
C1
(2) The position command of the motor is
-10V ~ +10V which means the position
command is -3 cycles ~ +3 cycles
(default).
T_REF
18
The torque command of the motor is -10V ~
+10V which means the rated torque
command of -100% ~ +100%.
C1
The operating state of the motor can be
Analog
Monitor
(output)
MON1
MON2
/PULSE
PULSE
Position
/SIGN
Pulse
SIGN
(input)
PULL HI_P
PULL HI_S
April, 2013
16
15
43
41
36
37
39
35
shown by analog voltage, such as speed
and current. This drive provides two channel
outputs. Users can select the desired
monitoring data via parameter P0-03. This
signal is based on the power ground.
Position pulse can be inputted by Line Driver
(single phase max. frequency 500KHz) or
open-collector (single phase max. frequency
200KHz). Three kinds of command type can
be selected via P1-00, CW pulse + CCW
pulse, pulse + direction, A pulse + B pulse.
When position pulse uses open-collector,
the terminal should be connected to an
external applied power in order to pull high.
C2
C3/C4
3-17
ASDA-M
Chapter 3 Wiring
Pin No
Function
Wiring
Method
(Refer to
3.3.3)
38
29
46
40
High-speed position pulse only accepts Line
Drive (+5V) as the input type.
The max. frequency of single phase is
4MHz. There are three kinds of command
types, A pulse + B pulse, CW pulse + CCW
pulse and pulse + direction. Please refer to
parameter P1-00.
C4-2
OA
/OA
OB
/OB
OZ
/OZ
21
22
25
23
50
24
Encoder signal output A, B, Z (Line Drive
output)
C13/C14
OCZ
48
Encoder signal output Z (Open-collector
output)
-
17
VDD is the +24V power provided by the
drive and is for Digital Input (DI) and Digital
Output (DO) signal. The maximum current is
500mA.
Signal Name
High-spee HPULSE
d position /HPULSE
pulse
HSIGN
(input)
/HSIGN
Position
pulse
(output)
VDD
COM+ is the common input of Digital Input
Power
COM+
COM-
VCC
GND
Other
NC
11
45
47
49
20
(DI) and Digital Output (DO) voltage. When
using VDD, VDD should be connected to
COM+. If not using, it needs to apply the
external power (+12V ~ + 24V). Its positive
end should connect to COM+ and the
negative end should connect to COM-.
-
VCC is the +12V power provided by the
drive. It is used for providing the simple
analog command (speed or torque
command). The maximum current is 100mA.
12,13,
VCC voltage is based on GND.
19,44
NO CONNECTION. This terminal is for
14
internal use only. Do not connect it, or it may
damage the servo drive.
There are numerous operation mode of this servo drive (please refer to Chapter 6.1).
Each operation mode needs different I/O signal. In order to use the terminal in a more
efficient way, the selection of I/O signal has to be programmable. That is to say, users
3-18
April, 2013
Chapter 3 Wiring
ASDA-M
can choose the desired DI/DO signal to meet the demand. Basically, the default setting of
DI/DO signal has already have the appropriate function which can satisfy the demand of
normal application.
Users have to select the operation mode based on the needs first (please refer to
Chapter 6.1 for the introduction of each mode) and refer to the following DI/DO table to
know the corresponding default setting of DI/DO signal and Pin No of the selected mode
in order to conduct the wiring.
The table below lists the default setting of DI/DO signal function and pin No:
The explanation of DO signal default setting is as the followings.
Pin No
DO Signal
Operation Mode
Function
Name
+ -
Wiring
Method
(Refer to
3.3.3)
When the servo drive applies to the
SRDY
SON
ZSPD
ALL
N/A
ALL
7
-
5
6
-
power and no alarm (ALRM) occurs
in control circuit and motor power
circuit, this DO is ON.
When the DI.SON is ON and the
motor servo circuit can operate
smoothly, this DO is ON.
When the motor speed is slower than
C5/C6/
C7/C8
4 the setting value of parameter P1-38,
this DO is ON.
When the motor actual speed (r/min)
TSPD
ALL (except PT,
PR)
-
-
is faster than the setting value of
parameter P1-39, this DO is ON.
When the deviation between the
motor command and actual position
TPOS
PT, PR, PT-S,
PT-T, PR-S, PR-T
1
26 (PULSE) is smaller than the setting
C5/C6/
C7/C8
value of parameter P1-54, this DO is
ON.
TQL
N/A
-
-
When torque is limiting, this DO is
ON.
When the alarm occurs (except
ALRM
ALL
28
27
forward/reverse
limit,
emergency
stop, communication error, under
voltage), this DO is ON.
BRKR
ALL
-
-
HOME
ALL
3
2
April, 2013
Control contact of mechanical brake
When homing is completed, this DO
is ON.
3-19
ASDA-M
Chapter 3 Wiring
Pin No
DO Signal
Name
OLW
Operation Mode
ALL
Function
+ -
-
-
When the overload level is reached,
this DO is ON.
A warning occurs.
When
WARN
ALL
-
-
Wiring
Method
(Refer to
3.3.3)
it
is
in
forward/reverse
the
limit,
status
of
emergency
stop, communication error, under
voltage, this DO is ON.
OVF
ALL
-
-
Position command overflows
SNL(SCWL)
PR
-
-
Reverse software limit
SPL(SCCWL) PR
-
-
Forward software limit
Cmd_OK
PR
-
-
CAP_OK
PR
-
-
MC_OK
PR
-
-
CAM_AREA
PR
-
-
The
output
of
internal
position
command is completed.
CAPTURE procedure is completed.
When DO.Cmd_OK and TPOS are
ON, this DO is ON.
The Master position of E-CAM is
inside the setting area.
When the deviation between the
speed command and the feedback
S_CMP
S, Sz
-
-
speed of the motor is smaller than the
setting value of parameter P1-47, this
DO is ON.
SDO_0
ALL
-
-
Output the status of bit00 of P4-06
SDO_1
ALL
-
-
Output the status of bit01 of P4-06
SDO_2
ALL
-
-
Output the status of bit02 of P4-06
SDO_3
ALL
-
-
Output the status of bit03 of P4-06
SDO_4
ALL
-
-
Output the status of bit04 of P4-06
SDO_5
ALL
-
-
Output the status of bit05 of P4-06
SDO_6
ALL
-
-
Output the status of bit06 of P4-06
SDO_7
ALL
-
-
Output the status of bit07 of P4-06
SDO_8
ALL
-
-
Output the status of bit08 of P4-06
SDO_9
ALL
-
-
Output the status of bit09 of P4-06
SDO_A
ALL
-
-
Output the status of bit10 of P4-06
SDO_B
ALL
-
-
Output the status of bit11 of P4-06
SDO_C
ALL
-
-
Output the status of bit12 of P4-06
SDO_D
ALL
-
-
Output the status of bit13 of P4-06
SDO_E
ALL
-
-
Output the status of bit14 of P4-06
3-20
April, 2013
Chapter 3 Wiring
ASDA-M
Pin No
DO Signal
Name
SDO_F
ALL
NOTE
April, 2013
Operation Mode
+ -
-
-
Function
Wiring
Method
(Refer to
3.3.3)
Output the status of bit15 of P4-06
1) For example, if the user selects PR mode, pin 3 and 2 are HOME. If
the user selects S mode, pin 3 and 2 are TSPD.
2) The unlisted Pin No means the signal is not the preset one. If users
want to use it, parameters need to be changed and set as the
desired ones. Please refer to Section 3.3.4 for further details.
3-21
ASDA-M
Chapter 3 Wiring
The explanation of DI signal default setting is as the followings
DI Signal Operation Pin
Name
Mode
No
SON
ALL
9
ARST
ALL
33
GAINUP
ALL
-
CCLR
PT, PR
10
Wiring
Method
(Refer to
3.3.3)
Function
When DI is ON, the servo circuit will be activated and the
motor coil will generate current.
When the alarm (ALRM) occurs, this signal is used to reset the
servo drive and output the signal, Ready (SRDY) again.
It is for switching the controller gain.
It is for clearing the deviation counter.
When this DI is ON and the motor speed is slower than the
ZCLAMP ALL
-
setting of P1-38, the motor position will be locked when the
signal is triggered.
PR, T, S
CTRG
PR,
PR-S,
PR-T
direction.
In PR mode, the moment CTRG is ON (rising edge), save the
10 position command selected by POS0~5 into the controller and
then trigger the command.
TRQLM
S,Sz
10 ON means the torque limit command is effective.
SPDLM
T, Tz
10 ON means the speed limit command is effective.
In PR mode, the source of position command:
34
POS0
-
When this DI is ON, the motor will operate in the opposite
CMDINV
Position
POS5 POS4 POS3 POS2 POS1 POS0 CTRG
command
POS1
8
POS2
-
POS3
P, PR-S,
PR-T
POS4
P1
0
0
0
0
0
0
P2
0
0
0
0
0
1
~
-
P50
1
1
0
0
1
0
-
P51
1
1
0
0
1
1
1
1
1
1
1
1
STOP
SPD0
SPD1
3-22
-
S, Sz,
PT-S,
PR-S, S-T
-
P64
P6-00
P6-01
P6-02
P6-03
~
~
POS5
Corresponded
parameter
C9/C10
C11/C12
P6-98
P6-99
P7-00
P7-01
~
P7-26
P7-27
Stop
The source of selecting speed command:
34
8
April, 2013
Chapter 3 Wiring
ASDA-M
DI Signal Operation Pin
Name
Mode
No
Function
Wiring
Method
(Refer to
3.3.3)
The source of selecting torque command:
TCM0
PT,T,
PT-T
TCM1
PR-T,
S-T
S-P
S-T
T-P
Tz,
PT-S,
PR-S
S-T
PT-T,
PR-T
34
8
31
Mode switching. OFF: Speed; ON: Position
31 Mode switching. OFF: Speed; ON: Torque
31 Mode switching. OFF: Torque; ON: Position
When selecting PT-PR mode or the multi-mode,
PT-PR
PT,PR
-
PT-PR-S, users can select the source via this DI. When
this DI is OFF, it is in PT mode. When this DI is ON, it is
in PR mode.
In position PT mode, when the DI is OFF, the external
PTAS
-
PTCMS
EMGS
-
ALL
-
command source is external pulse. When the signal is
ON, then the source is external analog voltage.
In position PT mode, when the DI is OFF, the source of
external command pulse is low-speed pulse (PULSE, C9/C10
/PULSE, SIGN, /SIGN Pin). When the DI is ON, the C11/C12
source will be high-speed pulse. This function can go
with handwheel. This DI can be used to switch the
source of command pulse.
It is contact B and has to be ON frequently; otherwise the
30
alarm (ALRM) will occur.
ORGP
PT, PR, S,
T
Sz, Tz
PT, PR, S,
T
Sz, Tz
PR
SHOM
PR
-
CAM
PR
-
JOGU
ALL
-
JOGD
ALL
-
EV1
PR
-
value U and Z of P5-88.)
When this DI is ON, the motor JOG operates in forward
direction.
When this DI is ON, the motor JOG operates in reverse
direction.
Event trigger PR command
EV2
PR
-
Event trigger PR command
NL
(CWL)
PL
(CCWL)
April, 2013
32
Reverse inhibit limit (contact B) and has to be ON
frequently; or the alarm (ALRM) will occur.
31
Forward inhibit limit (contact B) and has to be ON
frequently; or the alarm (ALRM) will occur.
-
When DI is ON, the drive will start homing.
In PR mode, it needs to search the origin. When this DI
is ON, the origin searching function is activated. (Please
refer to the setting of parameter P1-47.)
E-cam engaging control (please refer to the setting of
3-23
ASDA-M
Chapter 3 Wiring
DI Signal Operation Pin
Name
Mode
No
GNUM0
GNUM1
INHP
3-24
PT, PR,
PT-S,
PR-S
PT, PR,
PT-S,
PR-S
PT, PT-S
-
-
Function
Wiring
Method
(Refer to
3.3.3)
Electronic gear ratio (numerator) selection 0 (Please
refer to P2-60~P2-62 for gear ratio selection
(numerator).)
Electronic gear ratio (numerator) selection 1 (Please C9/C10
refer to P2-60~P2-62 for gear ratio selection C11/C12
(numerator).)
In position mode, when this DI is ON, the external pulse
input command is not working.
April, 2013
Chapter 3 Wiring
ASDA-M
The default setting of DI and DO in each operation mode is shown as the followings.
Please note that the following table neither detail the information as the previous one nor
show the Pin number of each signal. However, each operation mode is separated in
different columns in order to avoid the confusion.
Table 3.1
Symbol
Default Value of DI Input Function
DI
Code
Input Function
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
SON
0x01 Servo on
DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1 DI1
ARST
0x02 Alarm reset
DI5 DI5 DI5 DI5 DI5 DI5
GAINUP
0x03 Gain switch
CCLR
ZCLAMP
Reserved
0x04 Pulse clear
DI2
0x05 Zero speed clamp
The input command
0x06 will be in reverse
direction.
0x07 Reserved
CTRG
0x08
TRQLM
0x09 Torque limit
SPDLM
0x10 Speed limit
CMDINV
Internal position
command triggered
DI2 DI2
DI2
DI2 DI2
DI2
DI2
DI2
DI2
Internal position
POS0
0x11 command selection
DI3
DI3 DI3
0
Internal position
POS1
0x12 command selection
DI4
1
Internal position
POS2
0x13 command selection
2
Internal position
POS3
0x1A command selection
3
Internal position
POS4
0x1B command selection
4
Internal position
POS5
0x1C command selection
5
STOP
0x46 Motor stops
SPD0
0x14 Speed command
April, 2013
DI3
DI3
DI3
DI4
DI3
3-25
ASDA-M
Symbol
Chapter 3 Wiring
DI
Code
Input Function
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
selection 0
SPD1
0x15
TCM0
0x16
TCM1
0x17
Speed command
DI4
selection 1
Torque command
selection 0
Torque command
selection 1
DI4
DI4
DI3
DI3
DI3
DI3
DI4
DI4
DI4
DI4
DI4 DI4
Mode switch
S-P
0x18 between speed and
DI5
DI5
position command
Mode switch
S-T
DI5
0x19 between speed and
torque command
Mode switch
T-P
0x20 between torque and
DI5
DI5
position command
PT-PR
0x2B
Switch between PT
and PR command
In PT mode, the
PTAS
0x2C
switch between
command pulse
and analog
In PT mode, the
switch between
PTCMS
0x2D low-speed and
high-speed
command
EMGS
0x21 Emergency stop
NL(CWL)
0x22 Reverse inhibit limit
PL(CCWL)
0x23 Forward inhibit limit
ORGP
0x24
SHOM
0x27 Homing is activated
CAM
0x36 E-Cam engaged
JOGU
0x37 Forward JOG input
JOGD
0x38 Reverse JOG input
EV1
0x39
3-26
DI6 DI6 DI6 DI6 DI6 DI6 DI6 DI6 DI6 DI6 DI6
Original point of
homing
Event trigger PR
command #1 (refer
April, 2013
Chapter 3 Wiring
Symbol
DI
Code
ASDA-M
Input Function
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
to the setting of
P5-98, P5-99)
Event trigger PR
EV2
0x3A
command #2 (refer
to the setting of
P5-98, P5-99)
Event trigger PR
command #3
EV3
0x3B
firmware V1.008
sub04 will be
provided
afterwards)
Event trigger PR
command #4
EV4
0x3C
(firmware V1.008
sub04 will be
provided
afterwards)
Electronic gear ratio
GNUM0
0x43 (numerator)
selection 0
Electronic gear ratio
GNUM1
0x44 (numerator)
selection 1
INHP
0x45 Pulse input inhibit
NOTE
April, 2013
Please refer to Section 3.3.1 for corresponding pin from DI1 ~ 6.
3-27
ASDA-M
Table 3.2
Symbol
SRDY
SON
ZSPD
TSPD
Chapter 3 Wiring
Default Value of DO Output Function
DO
Code
Output
Function
0x01 Servo is ready.
0x02 Servo is on.
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1 DO1
0x03 Zero-speed
DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2 DO2
reached
0x04 Reach the target
speed
TPOS
0x05 Reach the target
position
TQL
ALRM
0x06 Torque limit
0x07 Servo alarm
BRKR
0x08 Mechanical
DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3 DO3
brake
HOME
0x09 Homing
complete
OLW
0x10 Early warning for
overload
WARN
OVF
0x11 Servo warning
0x12 Position
command
overflows
SNL(SCWL)
0x13 Reverse
SPL(SCCWL)
software limit
0x14 Forward
Cmd_OK
software limit
0x15 Internal position
command is
completed
CAP_OK
0x16 Capture
procedure is
completed
MC_OK
0x17 Servo procedure
is completed
CAM_AREA
SP_OK
SDO_0
0x18 Master position
area of E-CAM
0x19 Target speed
reached
0x30 Output the
status of bit00 of
3-28
April, 2013
Chapter 3 Wiring
Symbol
DO
Code
ASDA-M
Output
Function
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
P4-06
SDO_1
0x31 Output the
status of bit01 of
P4-06
SDO_2
0x32 Output the
status of bit02 of
P4-06
SDO_3
0x33 Output the
status of bit03 of
P4-06
SDO_4
0x34 Output the
status of bit04 of
P4-06
SDO_5
0x35 Output the
status of bit05 of
P4-06
SDO_6
0x36 Output the
status of bit06 of
P4-06
SDO_7
0x37 Output the
status of bit07 of
P4-06
SDO_8
0x38 Output the
status of bit08 of
P4-06
SDO_9
0x39 Output the
status of bit09 of
P4-06
SDO_A
0x3A Output the
status of bit10 of
P4-06
SDO_B
0x3B Output the
status of bit11 of
P4-06
SDO_C
0x3C Output the
status of bit12 of
P4-06
SDO_D
April, 2013
0x3D Output the
3-29
ASDA-M
Chapter 3 Wiring
Symbol
DO
Code
Output
Function
PT PR
S
T
Sz
Tz
PT PT PR PR
S
T
S
T
S
T
status of bit13 of
P4-06
SDO_E
0x3E Output the
status of bit14 of
P4-06
SDO_F
0x3F Output the
status of bit15 of
P4-06
NOTE
3-30
Please refer to Section 3.3.1 for corresponding pin from DO1 to 3.
April, 2013
Chapter 3 Wiring
ASDA-M
3.3.3 Wiring Diagram (CN1)
The valid voltage of speed analog command and torque analog command is between
-10V and +10V. The command value can be set via relevant parameters. The input
impedance is 10KΩ.
C1: speed, Input of Torque Analog Command
C2:Analog Monitor Output MON1 ,MON2
Servo Drive
_ 8V
Max. +
output 1mA
24kΩ
MON1 16
(MON2 15)
8kΩ
8V full scale
GND13
SG
April, 2013
3-31
ASDA-M
Chapter 3 Wiring
Pulse command can be input by the way of open-collector or Line driver. The maximum
input pulse of Line driver is 500kpps and 200kpps for open-collector.
C3-1: The source of pulse input is open-collector NPN equipment which applies the
internal power of the servo drive.
C3-1: The source of pulse input is open-collector PNP equipment which applies the
internal power of the servo drive.
NOTE
The wiring method of Pull-hi_S and Pull-hi_P is different from ASDA-A2 series. The aim is
for connecting to PNP.
3-32
April, 2013
Chapter 3 Wiring
ASDA-M
Caution: Do not apply to dual power or it may damage the servo drive.
C3-2: The source of pulse input is open-collector NPN equipment and applies the
external power.
Caution: Do not apply to dual power or it may damage the servo drive.
C3-2: The source of pulse input is open-collector PNP equipment and applies the
external power.
NOTE
The wiring method of Pull-hi_S and Pull-hi_P is different from ASDA-A2 series. The aim is
for connecting to PNP.
April, 2013
3-33
ASDA-M
Chapter 3 Wiring
C4-1: Pulse input (Line driver) can only apply to 5V power. Do not apply to 24V power.
This opto-isolator is one-way input, please be ensured the direction of
current of pulse input is correct.
3-34
April, 2013
Chapter 3 Wiring
ASDA-M
C4-2: High-speed pulse input (Line driver) can only apply to 5V power. Do not apply to
24V power.
The high-speed pulse input interface of the servo drive is not the
isolated interface. In order to reduce the interference of the noise, it is
suggested that the terminal ground of the controller and the servo
drive should be connected to each other.
April, 2013
3-35
ASDA-M
Chapter 3 Wiring
When the drive connects to inductive load, the diode has to be installed. (The permissible
current is under 40mA. The surge current is under 100mA.)
C5: Wiring of DO signal. The servo drive applies to the internal power and the resistor is
general load.
C6: Wiring of DO signal. The servo drive applies to the internal power and the resistor is
inductive load.
3-36
April, 2013
Chapter 3 Wiring
ASDA-M
C7: Wiring of DO signal. The servo drive applies to the external power and the resistor
is general load.
C8: Wiring of DO signal. The servo drive applies to the external power and the resistor
is inductive load.
April, 2013
3-37
ASDA-M
Chapter 3 Wiring
Input signal via relay or open-collector transistor
NPN transistor, common emitter (E) mode (SINK mode)
C9: The wiring of DI. The servo drive applies C10: The wiring of DI. The servo drive
to the internal power.
applies to the external power.
PNP transistor, common emitter (E) mode (SOURCE mode)
C11: The wiring of DI. The servo drive
C12: The wiring of DI. The servo drive
applies to the internal power.
applies to the external power.
Caution: Do not apply to dual power or it may damage the servo drive.
3-38
April, 2013
Chapter 3 Wiring
ASDA-M
C13:Encoder signal output (Line driver)
C14:Encoder signal output (Opto-isolator)
April, 2013
3-39
ASDA-M
Chapter 3 Wiring
C15:Encoder OCZ output (open-collector Z pulse output)
3.3.4 The DI and DO Signal Specified by the User
If the default setting of DI/DO signal cannot satisfy the need, self-set the DI/DO signal will
do and easy. The signal function of DI1 ~ 6 and DO1 ~ 3 is determined by parameter
P2-10 ~ P2-15 and parameter P2-18 ~ P2-20 respectively. Please refer to Chapter 7.2,
which shown as the following table. Enter DI or DO code in the corresponding parameter
to setup DI/DO.
Signal Name
Pin No
DI1DI2Standard DI3DI
DI4DI5DI6-
CN1-9
CN1-10
CN1-34
CN1-8
CN1-33
CN1-32
3-40
Corresponding
Parameter
P2-10
P2-11
P2-12
P2-13
P2-14
P2-15
Signal Name
Pin No
DO1+
DO1Standard DO2+
DO
DO2DO3+
DO3-
CN1-7
CN1-6
CN1-5
CN1-4
CN1-3
CN1-2
Corresponding
Parameter
P2-18
P2-19
P2-20
April, 2013
Chapter 3 Wiring
ASDA-M
3.4 CN2 Connector
The terminal block of the connector and pin number are as follows:
(A) Encoder Connector:
Side view
CN2 Connector
(female)
CN2 Rear view of the
terminal block
Rear view
(B) Motor Connector
Quick Connector
April, 2013
3-41
ASDA-M
Chapter 3 Wiring
The definition of each signal is as follows:
Drive Connector
Motor Connector
Pin No
Terminal
Symbol
Function and Description
Military
Quick
connector connector
5
T+
Serial communication signal
input/output (+)
A
1
Blue
4
T-
Serial communication signal
input/output (-)
B
4
Blue &
Black
-
-
Reserved
-
-
-
-
-
Reserved
-
-
14,16
+5V
Power +5V
S
7
13,15
GND
Power ground
R
8
Shell
Shielding
Shielding
L
9
Red/Red &
white
Black/Black
& white
-
Color
The shielding procedures of CN2 encoder connector are as the followings:
3-42
(1)
Cut through the cable and expose the
core wire which covers the metal core
wires with shielding. The length of the
reserved core wire should be 20~30mm.
Then, cover a 45mm long heat shrink tube
on the cable.
(2)
Spread the metal core wires with
shielding and turn it upside down in
downward direction. Ensure to follow the
pin definition from the above table to
connect the pins one by one.
(3)
Leave a length of 5~10mm metal core
wires with shielding outside the cable. The
length is about the width of the metal
saddle. The other unexposed wires of the
cable should be protected by the heat
shrink tube for good ground contact.
April, 2013
Chapter 3 Wiring
April, 2013
ASDA-M
(4)
Install a metal saddle to fix the
exposed metal core wires. The metal
saddle must completely cover all the
exposed metal core wires. The extended
sheet metal should be connected to the
metal part of the connector.
(5)
Install the connector into the plastic
case as shown in the figure.
(6)
Tighten the screws to complete a
shielded CN2 connector.
3-43
ASDA-M
Chapter 3 Wiring
3.5 Wiring of CN3 Connector
3.5.1 Layout of CN3 Connector
The servo drive connects to the personal computer via communication connector. The
user can operate the servo drive via MODBUS, PLC or HMI. There are two common
communication interfaces, RS-232 and RS-485. Both can be set via parameter P3-05.
Among them, RS-232 is more common. Its communication distance is about 15 meter. If
the user selects RS-485, its transmission distance is longer and supports more than one
servo drives for connection.
CN3 Connector
(female)
Side view
Rear view
Pin No
Signal Name
1
Signal grounding
2
RS-232 data
transmission
RS-232_TX
3
-
-
4
RS-232 data
receiving
RS-232_RX
5
RS-485 data
transmission
RS-485 data
transmission
RS-485(+)
6
NOTE
3-44
Terminal
Symbol
GND
RS-485(-)
Function and Description
+5V connects to the signal terminal
The drive transmits the data
The connector connects to RS-232_RX
of PC
Reserved
The drive receives the data
The connector connects to RS-232_TX
of PC
The drive transmits the date to differential
terminal (+)
The drive transmits the date to differential
terminal (-)
1) Please refer to Chapter 9, page 2 for the wiring of RS-485.
2) Two kinds of communication wire of IEEE1394 are commercially
available. One of the internal ground terminals (Pin 1) will short circuit
with the shielding and will damage the drive. Do not connect GND to
the shielding.
April, 2013
Chapter 3 Wiring
ASDA-M
3.5.2 Connection between CN3 Connector and Personal Computer
April, 2013
3-45
ASDA-M
Chapter 3 Wiring
3.6 CN4 Serial Connector (USB)
CN4 is a serial connector which used to connect PC software and enhance the efficiency.
The transmission speed of USB can up to 1MB, that is to say PC Data Scope can obtain
the correct data in time.
CN4 Connector (female)
3-46
Pin No
Signal Name
Function and Description
1
V bus
DC +5V (external power supply)
2
D-
Data-
3
D+
Data+
4
GND
Ground
April, 2013
Chapter 3 Wiring
ASDA-M
3.7 CN5 Connector (Full-closed Loop)
Connect to the external linear scale or encoder (A, B, Z) and form a full-closed loop with the
servo. In position mode, the pulse position command issued by the controller is based on
the control loop of the external linear scale. Please refer to Chapter 6.
CN5 Connector (female)
Pin No
Signal Name
Terminal
Symbol
Function and Description
1
/Z phase input
Opt_/Z
Linear scale /Z phase output
2
/B phase input
Opt_/B
Linear scale /B phase output
3
B phase input
Opt_B
Linear scale B phase output
4
A phase input
Opt_A
Linear scale A phase output
5
/A phase input
Opt_/A
Linear scale /A phase output
6
Encoder grounding
GND
Ground
7
Encoder grounding
GND
Ground
8
Encoder power
+5V
Linear scale + 5V power
9
Z phase input
Opt_Z
Linear scale Z phase output
April, 2013
3-47
ASDA-M
Chapter 3 Wiring
3.8 CN6 Connector (CANopen)
Based on the standard of CANopen DS301 and DS402, CN6 uses the standard CAN
interface to implement position, torque and speed mode. It also can read or monitor the
drive status.
The station number of CANopen is the same as RS-232/RS-485. All are set via parameter
P3-00 and the transmission rate can up to 1 Mbps. It provides two sets of communication
connectors, one is for receiving and another one is for transmission, in order to connect
more than one drives. The last servo drive connects to termination resistor.
CN6 connector (female)
Pin No
Signal Name
Function and Description
1, 9
CAN_H
CAN_H bus line (dominant high)
2, 10
CAN_L
CAN_H bus line (dominant low)
3, 11
CAN_GND
Ground / 0 V / V -
4, 12
-
Reserved
5, 13
-
Reserved
6, 14
-
Reserved
7, 15
CAN_GND
Ground / 0 V / V -
8, 16
-
Reserved
3-48
April, 2013
Chapter 3 Wiring
NOTE
ASDA-M
1)
2)
April, 2013
The termination resistor is suggested to use 120 Ω (Ohm) 0.25W or
above.
The wiring method of concatenate more than one drives is based on
two terminals of CANopen. One is for receiving and another one is for
transmission. And the servo drive connects to the termination resistor.
The wiring diagram of the termination resistor is shown as the
followings:
3-49
ASDA-M
Chapter 3 Wiring
3.9 Standard Wiring Method
3.9.1
Position (PT) Mode Standard Wiring
MCCB
MC
Three
groups
±10V
10KΩ
High-speed pulse
command input
(Line Receiver)
Shielded twistedpair cable
10KΩ
10KΩ
SG
SON
CCLR
TCM0
TCM1
ARST
EMGS
SRDY
1.5KΩ
ZSPD
1.5KΩ
HOME
1.5KΩ
A phase
differential signal
B phase
differential signal
Z phase
differential signal
Z phase signal
(open-collector)
CN1
37
36
41
43
18
13
40
46
/HPULSE 29
HPULSE 38
MON1
16
GND 12,13,19
MON2
15
VDD
17
COM+
11
COM- 45,47,49
DI1
9
DI2
10
DI3
34
DI4
8
DI5
33
DI6
32
31
DI7
30
DI8
7
DO1+
6
DO15
DO2+
4
DO23
DO3+
2
DO31
DO4+
26
DO428
DO5+
27
DO521
OA
22
/OA
25
OB
23
/OB
50
OZ
24
/OZ
OCZ
GND
U
V
W
Power
red
white
black
24V EMGS BRKR*¹
Brake
green
10KΩ
10KΩ
DC 24V
4.7KΩ
4.7KΩ
4.7KΩ
4.7KΩ
4.7KΩ
4.7KΩ
48
13
Max. output current: 50mA
Voltage: 30V
3-50
Three
groups
CN2
5
4
7
9
14,16
13,15
Encoder
T+
T+5V
GND
blue
Blue/
black
green
Green/
black
red
SG
black
Shielded twisted-pair
cable
Pulse command input
(Line Driver)
Encoder
pulse
output
P⊕
D
C
L1c
L2c
/SIGN
SIGN
/PULSE
PULSE
T-REF
GND
/HSIGN
HSIGN
Regenerative
resistor
R
S
T
AC 200/230 V
three-phase
50/60Hz
24V
Servo Drive
ASDA-M series
CN3
6
RS4855
RS485+
4
RS232_RX
3
RS232_TX
2
1
GND
CN4
+5V DC
1
Data2
3
Data+
GND
4
CN5
8
4
5
3
2
9
1
6
7
Three
groups
+5V
Opt A
Opt /A
Opt B
Opt /B
Opt Z
Opt /Z
GND
GND
CN6 CANopen / DMCNET*²
1,9
CAN H / FRA1
2,10 CAN L / FRB1
3,11
- / FRA2
4,12
5,13
6,14
7,15
- / FRB2
8,16
Note:
*1: Brake wiring has no polarity.
*2: Code-CN6 communication connector of ASDA-M
is based on CANopen standard.
Code-CN6 communication connector of ASDA-F
is based on DMCNET standard.
April, 2013
Chapter 3 Wiring
3.9.2
April, 2013
ASDA-M
Position (PR) Mode Standard Wiring
3-51
ASDA-M
3.9.3
3-52
Chapter 3 Wiring
Speed Mode Standard Wiring
April, 2013
Chapter 3 Wiring
ASDA-M
3.9.4 Torque Mode Standard Wiring
April, 2013
3-53
ASDA-M
Chapter 3 Wiring
3.9.5 CANopen Mode Standard Wiring
Regenerative
resistor
Shielded twistedpair cable
3-54
April, 2013
Chapter 4 Panel Display and Operation
ASDA-M
Chapter 4 Panel Display and
Operation
This chapter details the panel status and operation of ADSA-M series servo drive.
4.1 Panel Description
Name
Display
SEL Key
Function
The single-group of seven-segment display is for displaying the
selected axis.
The five-group of seven-segment display is for displaying the
monitoring values, parameter values and setting values.
Axis selection
MODE Key
Switch to Monitor Mode / Parameter Mode / Alarm Display.
When in Editing Mode, press the MODE Key can switch to the
Parameter Mode.
SHIFT Key
The group code can be changed in Parameter Mode. When in
Editing Mode, moving the blinking bit to the left can adjust the higher
setting bit. The display of high/low digit can be switched in Monitor
Mode.
UP Key
Change monitoring codes, parameter codes or setting values
DOWN Key
Change monitoring codes, parameter codes or setting values
SET Key
April, 2013
Display and save the setting value. It can switch the decimal or
hexadecimal format display in Monitor Mode.
In Parameter Mode, press the SET Key can enter Editing Mode.
4-1
ASDA-M
Chapter 4 Panel Display and Operation
4.2 Parameter Setting Procedure
4.2.1
Axis Switching Procedure
(1) When the servo drive connects to the power, the display will show the monitor variable
for about one second, and then enter into the Monitor Mode.
(2) The single-group of seven-segment display shows the current selected axis. After
connecting to the power, if the servo drive displays 1, it means the current selected axis
is the first axis (X axis).
(3) SEL Key can used to select the axis. The number increases every time the user
presses the SEL Key. The order is like a cycle: 1(X axis) → 2(Y axis) → 3(Z axis) →
1(X axis).
(4) After setting the axis, it will enter the corresponding setting procedure of parameters.
(5) The setting of parameter corresponds to each axis respectively.
NOTE
4-2
When there is an alarm, the display will stay at the axis which has error
and show the alarm code. SEL Key has no function at the moment. Not
until pressing the MODE Key to switch to the other modes, can the SEL
Key be used to select the axis. If there is no Key to be pressed for 20
seconds, it will return to the Alarm Mode automatically.
April, 2013
Chapter 4 Panel Display and Operation
4.2.2
ASDA-M
Parameter Setting Procedure of Each Axis
(1) Select and set the axis first.
(2) Press the MODE Key to switch Parameter Mode → Monitor Mode → Alarm Mode. If
there is no alarm, then it will skip the Alarm Mode.
(3) When there is a new alarm, it will switch to Alarm Display Mode in any conditions.
Pressing the MODE Key can switch to the other modes. If there is no Key to be
selected for 20 seconds, it will return to the Alarm Mode automatically.
(4) In Monitor Mode, press UP or DOWN Key can switch the monitor variable. The monitor
variable will be displayed for a second.
(5) In Parameter Mode, pressing the SHIFT Key can switch the group code. The
UP/DOWN Key can change parameter code of two bytes.
(6) In Parameter Mode, press the SET Key, the system will immediately enter into Editing
Setting Mode. The display will show the corresponded setting value of the parameter.
The UP/DOWN Key can be used to change the parameter value or press the MODE
Key to skip Editing Setting Mode and return to Parameter Mode.
(7) In Editing Setting Mode, pressing the SHIFT Key can move the blinking bit to the left.
And use the UP/DOWN Key to adjust the higher setting byte value.
(8) After adjusting the setting value, press the SET Key. It can save the parameter or
execute the command.
(9) After finish parameter setting, the display will show the end code 「SAVED」and return
to the Parameter Mode automatically.
April, 2013
4-3
ASDA-M
Chapter 4 Panel Display and Operation
4.3 Status Display
4.3.1 Setting Saved Display
When finishing editing parameter, press the SET Key to save the setting. The panel will
display the setting status according to the setting for a second.
Displayed Symbol
Description
The setting value is saved correctly. (Saved)
Read-only parameter. Write-protected. (Read-Only)
Enter the wrong password or no password has been entered.
(Locked)
Incorrect setting value or enter the reserved setting value. (Out of
Range)
No entering is allowed when it is Servo ON. (Servo On)
Parameter will be effective after the drive is repower on. (Power On)
4.3.2 Decimal Point
Displayed Symbol
Description
High byte / low byte indication: When the data is displayed in decimal
32 bits, it is for indicating the current high or low byte.
Negative sign: When the data is displayed in decimal format, the two
decimal points in the left represents the negative sign, no matter it is
showed in 16 or 32 bits. When it is showed in hexadecimal format, it
only shows positive sign.
4.3.3 Alarm Message
Displayed Symbol
Description
When there is an error of the drive, it will show ‘AL’ as the alarm sign
and ‘nnn’ as the alarm code.
For further explanation, please refer to Chapter 8, P0-01, parameter
description, or the chapter of troubleshooting.
4.3.4 Positive and Negative Sign Setting
Displayed Symbol
Description
When entering into the Editing Setting Mode, pressing UP / DOWN
Key can increase or decrease the displayed content. The SHIFT Key
can change the desired adjusted carry value. (The carry value is
blinking at the moment.)
Pressing the SHIFT Key for two seconds can switch the positive (+)
and negative (-) sign. If the parameter is over the range after
switching the positive or negative sign, then it cannot be switched.
4-4
April, 2013
Chapter 4 Panel Display and Operation
ASDA-M
4.3.5 Monitor Display
When the drive is applied to the power, the display will show the monitor displayed symbol
for a second, and then enter into the Monitor Mode. In Monitor Mode, SEL Key can select
the desired monitor axis. The UP / DOWN Key can change the desired monitor variable. Or,
the user can directly change parameter P0-02 to set the monitor code. When applying to
the power, the system will pre-set the monitor code according to the setting value of P0-02.
For example, the setting value of P0-02 is 4. Every time when applying to the power, it will
display C-PLS monitor sign first, and then shows the input pulse number of pulse
command.
Monitor Displayed
P0-02
Description
Unit
Setting Value
Symbol
Motor feedback pulse number (after the
0
[user unit]
scaling of electronic gear ratio) (User unit)
1
Input pulse number of pulse command
(after the scaling of electronic gear ratio)
(User unit)
[user unit]
2
The difference of error pulse number
between control command pulse and
feedback pulse number (User unit)
[user unit]
3
Motor feedback pulse number (encoder
unit) (1.28 millions Pulse/rev)
[pulse]
4
Input pulse number of pulse command
(before the scaling of electronic gear ratio)
(encoder unit)
[pulse]
5
Error pulse number (after the scaling of
electronic gear ratio) (encoder unit)
[pulse]
6
Input frequency of pulse command
[Kpps]
7
Motor speed
[r/min]
8
Speed input command
[Volt]
9
Speed input command
[r/min]
10
Torque input command
[Volt]
11
Torque input command
[%]
12
Average torque
[%]
13
Peak torque
[%]
14
Main circuit voltage
[Volt]
Ratio of load / motor inertia
15
(note: If the panel shows 13.0, the inertia ratio
[1times]
is 13.)
April, 2013
4-5
ASDA-M
P0-02
Setting Value
Chapter 4 Panel Display and Operation
Monitor Displayed
Symbol
Description
Unit
16
IGBT temperature
[℃]
17
Resonance frequency (Low byte is the first
resonance and high byte is the second
one).
[Hz]
18
The absolute pulse number of encoder Z
phase equals to the homing value, 0. It will
be +5000 or -5000 pulse when rotating in
forward or reverse direction.
-
Mapping parameter #1: shows the content
of parameter P0-25
(specify the mapping target by P0-35)
-
0 +5000, 0 +5000, 0
Z
19
20
Z
Z
Mapping parameter #2: shows the content
of parameter P0-26
-
(specify the mapping target by P0-36)
4-6
21
Mapping parameter #3: shows the content
of parameter P0-27
(specify the mapping target by P0-37)
-
22
Mapping parameter #4: shows the content
of parameter P0-28
(specify the mapping target by P0-38)
-
23
Monitor variable #1: shows the content of
parameter P0-09
(specify the monitor variable code by
P0-17)
-
24
Monitor variable #2: shows the content of
parameter P0-10
(specify the monitor variable code by
P0-18)
-
25
Monitor variable #3: shows the content of
parameter P0-11
(specify the monitor variable code by
P0-19)
-
26
Monitor variable #4: shows the content of
parameter P0-12
(specify the monitor variable code by
P0-20)
-
April, 2013
Chapter 4 Panel Display and Operation
Example of the
displayed value
Status Description
If the value is 1234, it displays 01234 (shows in
decimal format).
(Dec)
16 bits
(Hex)
(Dec high)
(Dec low)
(Hex high)
(Hex low)
ASDA-M
32 bits
If the value is 0x1234, it displays 1234 (shows in
hexadecimal format; the first digit does not show
any).
If the value is 1234567890, the display of the high
byte is 1234.5 and displays 67890 as the low byte
(shows in decimal format).
If the value is 0x12345678, the display of the high
byte is h1234 and displays L5678 as the low byte
(shows in hexadecimal format).
Negative display. If the value is -12345, it displays 1.2.345 (only
shows in decimal format; there is no positive or negative sign
for hexadecimal format display).
NOTE
1) Dec means it is displayed in decimal format. Hex means it is
displayed in hexadecimal format.
2) The above display methods can be applied in Monitor Mode and
Editing Setting Mode.
3) When all monitor variable is 32 bits, high / low bit and the display
(Dec/Hex) can be switched. According to the definition in Chapter
8, each parameter only supports one displaying method and
cannot be switched.
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Chapter 4 Panel Display and Operation
4.4 General Function
4.4.1 Operation of Fault Record Display
When it is in Parameter Mode, select the parameter which is in error status first. Then
select P4-00~P4-04. Press the SET Key, the corresponding fault record will shown.
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April, 2013
Chapter 4 Panel Display and Operation
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4.4.2 JOG Mode
When it is in Parameter Mode, select the parameter of JOG first. Then select P4-05. And
enter into JOG Mode by the following settings:
(1) Press the SET Key to display the speed value of JOG. The default value is 20r/min.
(2) Press UP or DOWN Key to adjust the desired speed value of JOG. It is adjusted to
100r/min in the example.
(3) Press the SET Key to display JOG and enter JOG mode.
(4) When it is in JOG Mode, press UP or DOWN Key to enable the servo motor in
forward or reverse direction. The servo motor stops running as soon as the user
stops pressing the key. JOG operation is working only when it is Servo ON.
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4.4.3
Chapter 4 Panel Display and Operation
Force DO Output
Enter into the Output Diagnosis Mode by the following settings. First, select the desired
output axis to switch the parameter. Set P2-08 to 406 and enable the function of force DO
output. Then, set the force DO output by binary method via P4-06. When the setting value
is 2, DO2 will be forced to enable. When the setting value is 5, DO1 and DO3 will be forced
to enable. No data is retained in this mode. It returns to the normal DO mode when
re-power on the drive or set P2-08 to 400.
NOTE
4-10
P4-06 is displayed in hexadecimal format. Therefore, it will not show
the fifth 0.
April, 2013
Chapter 4 Panel Display and Operation
ASDA-M
4.4.4 Digital Input Diagnosis Operation
Enter into the Digital Input Diagnosis Mode by the following setting methods. When the
external output signal DI1~DI6 is ON, the corresponding signal will be shown on the panel.
It is displayed by bit. When it shows bit, it means it is ON.
For example, if it shows 0031, 3 is in hexadecimal format, it will be 0011 when it transfers to
binary format. Then, DI5~DI6 is ON.
SET
The panel
displays in
hexadecimal
format.
00
0000
0011
DI DI
6 5
0001
DI DI DI DI
4 3 2 1
Binary code
Corresponding
DI status
Display in
hexadecimal format
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Chapter 4 Panel Display and Operation
4.4.5 Digital Output Diagnosis Operation
Enter into the Digital Output Diagnosis Mode by the following setting methods. The output
signal DO1~DO3 is ON and the corresponding signal will be shown on the panel. It is
displayed by bit. When it shows bit, it means it is ON.
For example, if it shows 07, 7 is in hexadecimal format, it will be 0111 when it transfers to
binary format. Then, DO1~DO3 is ON.
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Chapter 5 Trial Operation and Tuning
ASDA-M
Chapter 5 Trial Operation and
Tuning
This chapter is divided into two parts to describe the trial operation. The first one is the
inspection without load and another one is the inspection with load. For safety reasons,
please conduct the first inspection.
5.1 Inspection without Load
Please remove the load of the servo motor, including coupling on the shaft and accessories
so as to avoid any damage on servo drive or mechanism. This is aiming to avoid the falling
off of the disassembled parts of the motor shaft and indirectly causing the personnel injury
or equipment damage during operation. Running the motor without load, if the servo motor
can run during normal operation, then it can connect to load for operation.
Caution: Please operate the servo motor without load first. If the servo motor runs
normally, connect the load afterwards in order to avoid any danger.
Please check the following items before operation.




Inspection before 
operation

(has not applied to
the power yet)



Inspection before
running the servo
drive
April, 2013

Check if there is any obvious damage shown on its appearance.
The splicing parts of the wiring terminal should be isolated.
Make sure the wiring is correct so as to avoid the damage or any
abnormity.
Check if the electric conductivity objects including sheetmetal
(such as screws) or inflammable objects are not inside the servo
drive.
Check if the control switch is in OFF status.
Do not place the servo drive or external regenerative resistor on
inflammable objects.
To avoid the electromagnetic brake losing efficacy, please check
if stop function and circuit break function can work normally.
If the peripheral devices are interfered by the electronic
instruments, please reduce electromagnetic interference with
devices.
Please make sure the external voltage level of the servo drive is
correct.
The encoder cable should avoid excessive stress. When the
motor is running, make sure the cable is not frayed or over
5-1
ASDA-M
(has already applied
to the power)
Chapter 5 Trial Operation and Tuning





extended.
Please contact with Delta if there is any vibration of the servo
motor or unusual noise during the operation.
Make sure the setting of the parameters is correct. Different
machinery has different characteristic, please adjust the
parameter according to the characteristic of each machinery.
Please reset the parameter when the servo drive is in SERVO
OFF status, or it may cause malfunction.
When the relay is operating, make sure it can work properly.
Check if the power indicator and LED display works normally.
5.2 Apply Power to the Servo Drive
Please follow the instructions below.
A. Make sure the wiring between the motor and servo drive is correct.
1) U, V, W and FG have to connect to cable red, white, black and green respectively. If
the wiring is incorrect, the motor cannot work normally. The ground wire FG of the
motor must be connected to the ground terminal of the servo drive. Please refer to
Chapter 3.1 for wiring.
2) The encoder cable of the motor has correctly connected to CN2: If users only
desire to execute JOG function, it is unnecessary to connect CN1 and CN3 (Please
refer to Chapter 5.3). Refer to Chapter 3.1 and 3.4 for the wiring of CN2.
Caution: Do not connect the power terminal (R, S, T) to the output terminal (U, V, W)
of the servo drive. Or it might damage the servo drive.
B. Power circuit of the servo drive:
Apply power to the servo drive. Please refer to Chapter 3.1.3 for power wiring.
C. Power on:
Power of the servo drive: including control circuit (L1c, L2c) and main circuit (R, S, T) power.
When the power is on, the display of the servo drive will be:
The digital input (DI6) of the default value is the signal of emergency stop (EMGS), if
DI6 is not using, adjusting the setting of P2-15 is a must. P2-15 can be set to 0
(disable this DI function) or modified to another function.
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April, 2013
Chapter 5 Trial Operation and Tuning
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From the last setting,the servo drive status displays parameter P0-02 setting as the
motor speed (07), then the screen display will be:
When the screen displays no text, please check if the power of control circuit is under
voltage.
1) When the screen displays
Warning of overvoltage:
It means the voltage input by the main circuit is higher than the rated voltage or power
input error (incorrect power system).
Corrective action:
 Use the voltmeter to measure if the input voltage from the main circuit is within the
range of rated voltage value.
 Use the voltmeter to measure if the power system complies with the specification.
2) When the screen displays
Warning of encoder error:
Check if the motor encoder is securely connected or the wiring is correct.
Corrective action:
 Check if the wiring is the same as the instruction of the user manual.
 Check the encoder connector.
 Check if the wiring is loose.
 Encoder is damaged.
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ASDA-M
Chapter 5 Trial Operation and Tuning
3) When the screen displays
Warning of emergency stop:
Please check if any of the digital input DI1~DI6 is set to emergency stop (EMGS).
Corrective action:
 If not desire to set emergency stop (EMGS) as one of the digital input, make sure
no digital input is set to emergency stop (EMGS) among DI1~DI6. (That is to say
none of the parameters, P2-10~P2-15 is set to 21.)
 If the signal of emergency stop (EMGS) is needed, make sure one of the digital
input, DI1~DI6, is set to emergency stop (EMGS) and that DI has to be ON.
4) When the screen displays
Warning of negative limit error:
Please check if any of the digital input DI1~DI6 is set to negative limit (NL) and that DI
is OFF.
Corrective action:
 If not desire to set negative limit (NL) as one of the digital input, make sure no
digital input is set to negative limit (NL) among DI1~DI6. (That is to say none of the
parameters, P2-10~P2-15 is set to 22.)
 If the signal of negative limit (NL) is needed, make sure one of the digital input,
DI1~DI6, is set to negative limit (NL) and that DI has to be ON.
5) When the screen displays
Warning of positive limit error:
Please check if any of the digital input DI1~DI6 is set positive limit (PL) and that DI is
OFF.
Corrective action:
 If not desire to set positive limit (PL) as one of the digital input, make sure no
digital input is set to positive limit (PL) among DI1~DI6. (That is to say none of the
parameters, P2-10~P2-15 is set to 23.)
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April, 2013
Chapter 5 Trial Operation and Tuning

ASDA-M
If the signal of positive limit (PL) is needed, make sure one of the digital input,
DI1~DI6, is set to positive limit (PL) and that DI has to be ON.
6) When the screen displays
Warning of overcurrent:
Corrective action:
 Check the connection between the motor and servo drive.
 Check if the conducting wire is short circuited.
Exclude short circuit and avoid metal conductors being exposed.
7) When the screen displays
Warning of under voltage:
Corrective action:
 Check if the wiring of main circuit input voltage is correct.
 Use voltmeter to measure if the main circuit voltage is normal.
 Use voltmeter to measure if the power system complies with the specification.
Note: During the process of power on or servo on, if an alarm occurs or shows any
abnormal display, please contact the distributors.
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ASDA-M
Chapter 5 Trial Operation and Tuning
5.3 JOG Trial Run without Load
It is very convenient to test the motor and servo drive with the method of JOG trial run
without load since the extra wiring is unnecessary. For safety reasons, it is recommended
to set JOG at low speed. Please see the following descriptions.
STEP 1: Use software setting to Servo ON. Select the desired JOG axis and set parameter
P2-30 to 1. This setting is to force the servo ON through software.
STEP 2: Set P4-05 as JOG speed (unit: r/min). After setting the desired JOG speed, press
the SET Key, the servo drive will enter JOG mode.
STEP 3: Press the MODE Key to exist JOG mode.
In this example, the JOG speed is adjusted from 20r/min to 100r/min.
Press
Key: Servo motor rotates in CCW
direction. The motor stops running after releasing
the key.
Press
Key: Servo motor rotates in reverse
direction. The definition of CCW and CW is as
follows.
P (CCW): Facing the shaft, the motor rotates in
counterclockwise direction.
N (CW): Facing the shaft, the motor rotates in
clockwise direction.
Press
5-6
to exist.
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Chapter 5 Trial Operation and Tuning
ASDA-M
5.4 Trial Run without Load (Speed Mode)
Before the trial run without load, firmly secure the motor base so as to avoid the danger
cause by the reaction of motor operation.
STEP 1:
Set the control mode of the servo drive to speed mode. Firstly select the desired axis for
speed test, and set P1-01 to 2. Then, re-power on the servo drive.
STEP 2:
In speed control mode, the digital input settings of trial run are as follows:
Digital Input
Symbol
Function Description
DI1
Parameter
Setting Value
P2-10 = 101
CN1 Pin No
SON
Servo ON
DI1- = 9
DI2
P2-11 = 109
TRQLM
Torque limit
DI2- = 10
DI3
P2-12 = 114
SPD0
Speed command
selection
DI3- = 34
DI4
P2-13 = 115
SPD1
Speed command
selection
DI4- = 8
DI5
P2-14 = 102
ARST
Alarm reset
DI5- = 33
DI6
P2-15 = 0
Disabled
Invalid DI function
-
The above table disables the function of emergency stop (DI6) (the default setting), thus,
set P2-15 to 0 (Disabled). The digital input of Delta’s servo drive can be programmed by
users. When programming digital input, please refer to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency stop,
April, 2013
5-7
ASDA-M
Chapter 5 Trial Operation and Tuning
therefore, after the setting is completed, if there is any alarm occurs, please re-power on
the servo drive or switch ON DI5 to clear the alarm. Please refer to Chapter 5.2.
The speed command selection is determined by SPD0 and SPD1. See the table below.
Speed
Command
No.
S1
S2
DI signal of
CN1
SPD1 SPD0
0
0
0
1
S3
1
0
S4
1
1
Command
Source
External
analog
command
Content
Range
Voltage deviation between
V-REF and GND
-10V ~ +10V
P1-09
-60000~60000
P1-10
-60000~60000
P1-11
-60000~60000
Register
parameter
0: means DI is OFF
1: means DI is ON
The setting range of register parameter is from -60000 to 60000. Setting value = setting
range x unit (0.1r/min).
For example, P1-09 = +30000; Setting value = +30000 x 0.1r/min = +3000r/min
Command setting of speed register
Set parameter P1-09 to
30000.
Set parameter P1-10 to
1000.
Set parameter P1-11 to
-30000.
Input command
Rotation direction
+
CCW
-
CW
STEP 3:
(1) Users switch ON DI1 and Servo ON.
(2) Both DI3 (SPD0) and DI4 (SPD1), the speed command, are OFF, which means it
currently executes S1 command. The motor rotates according to analog voltage
command.
(3) When DI3 (SPD0) is ON, it means it currently executes S2 command (3000r/min). The
rotation speed is 3000r/min at the moment.
(4) When DI4 (SPD1) is ON, it means it currently executes S3 command (100r/min). The
rotation speed is 100r/min.
(5) When both DI3 (SPD0) and DI4 (SPD1) are ON, it means S4 command (-3000r/min)
is executed at the moment. The rotation speed is -3000r/min.
(6) Step (3), (4) and (5) can be repeatedly executed.
(7) If users desire to stop the motor, switch OFF DI1 (Servo OFF).
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April, 2013
Chapter 5 Trial Operation and Tuning
ASDA-M
5.5 Trial Run without Load (Position Mode)
Before the trial run without load, firmly secure the motor base so as to avoid the danger
cause by the reaction of motor operation.
STEP 1:
Set the control mode of the servo drive to position mode.
Firstly select the desired axis for speed test, and set parameter P1-01 to 1. Then, re-power
on the servo drive.
STEP 2: In position mode, the digital input settings of trial run are as follows:
Digital Input
Parameter
Setting Value
Symbol
Function Description
CN1 Pin No
DI1
P2-10 = 101
SON
Servo ON
DI1- = 9
DI2
P2-11 = 108
CTRG
Torque limit
DI2- = 10
DI3
P2-12 = 111
POS0
Position command
selection
DI3- = 34
DI4
P2-13 = 112
POS1
Position command
selection
DI4- = 8
DI5
P2-14 = 102
ARST
Alarm reset
DI5- = 33
DI6
P2-15 = 0
Disabled
Invalid DI function
-
The above table disables the function of emergency stop (DI6) (the default setting), thus,
set P2-15 to 0 (Disabled). The digital input of Delta’s servo drive can be programmed by
users. When programming digital input, please refer to the description of DI code.
The default setting includes the function of negative limit, positive limit and emergency stop,
therefore, after the setting is completed, if there is any alarm occurs, please re-power on
the servo drive or switch ON DI5 to clear the alarm. Please refer to Chapter 5.2.
April, 2013
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Chapter 5 Trial Operation and Tuning
Please refer to Chapter 3.9.2, Position (PR) Mode Standard Wiring for wiring diagram.
However, since POS2 is not the default digital input, set P2-14 to 113. Please refer to the
table below for 64 sets of register command, POS0~POS5 and the relative parameters.
Position
POS5 POS4 POS3
Command
POS2
POS1 POS0
P1
0
0
0
0
0
0
P2
0
0
0
0
0
1
P50
1
1
0
0
1
0
P51
1
1
0
0
1
1
1
1
1
1
1
1
~
~
P64
CTRG
Corresponding
Parameter
P6-00
P6-01
P6-02
P6-03
~
P6-98
P6-99
P7-00
P7-01
~
P7-26
P7-27
0: means DI is OFF
1: means DI is ON
Users can set the 64-set of command value (P6-00~P7-27). The value can be set as the
absolute position command.
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April, 2013
Chapter 5 Trial Operation and Tuning
ASDA-M
5.6 Tuning Procedure
Estimate the inertia ratio------- JOG mode
1.
After completing wiring, when applying to the power, the
servo drive will display:
2.
Press the MODE Key to select the mode of parameter
function.
Press the SHIFT Key twice to select the mode of parameter
group.
3.
4.
Press the UP Key to select parameter P2-15.
5.
Press the SET Key to display parameter value, which is
shown as the content on the right.
6.
Press the SHIFT Key twice, then press the UP Key, the
panel will display 121. Press the SET Key.
7.
Press the UP Key to select parameter P2-30.
8.
Press the SET Key to display the parameter value. (See the
figure on the right.)
9.
Press the UP Key and select the parameter value 1. Then,
press the SET Key. The servo drive is in Servo ON status at
the moment.
10. The panel will display P2-30 as shown on the right.
11. Press the MODE Key first, and press the DOWN Key for 12
times to select the value of inertia ratio.
12. The panel displays the current value of inertia ratio (default
value).
13. Press the MODE Key to select the mode of parameter
function.
14. Press the SHIFT Key twice to select the mode of parameter
group.
15. Press the UP Key twice to select parameter P4-05.
16. Press the SET Key to show the content, which is 20r/min at
JOG speed. Press the UP or DOWN Key to increase or
decrease the JOG speed. Press the SHIFT Key to move to
the next digit of the left.
17. Set the desired JOG speed and press the SET Key which is
shown as the figure on the right.
18. Press the UP Key to rotate the motor in forward direction while press the DOWN Key
the motor will rotate in reverse direction.
19. Execute JOG operation at low speed first. With the constant speed, if the motor
operates smoothly in forward and reverse direction, users can execute JOG operation
at higher speed.
20. In P4-05, the servo drive cannot display inertia ratio. Please press the MODE Key
twice to view the value of inertia ratio. If users desire to execute JOG operation again,
April, 2013
5-11
ASDA-M
Chapter 5 Trial Operation and Tuning
press the MODE Key, and then press the SET Key twice. Observe the panel display to
see if the load inertia ratio remains at the same value after acceleration and
deceleration.
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April, 2013
Chapter 5 Trial Operation and Tuning
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5.6.1 Flowchart of Tuning Procedure
If the measurement of
inertia ratio is incorrect, it
cannot obtain the best
performance of tuning.
1. Understand the required specification is
a must.
2. Resonance can be suppressed by
P2-23 and P2-24.
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ASDA-M
5.6.2
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Chapter 5 Trial Operation and Tuning
Inertia Estimation Flowchart (with Mechanism)
April, 2013
Chapter 5 Trial Operation and Tuning
ASDA-M
5.6.3 Flowchart of Auto Tuning
Set P2-32 to 1 (auto mode, continuous tuning)
Continue to estimate the system inertia. Automatically save the value in P1-37 every 30
minutes and refer the stiffness and bandwidth setting of P2-31.
P2-31Stiffness setting in auto tuning mode (The default value is 40)
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1~50Hz: low-stiffness, low-response
51~250Hz: medium-stiffness, medium-response
251~850Hz: high-stiffness, high-response
851~1000Hz: extremely high-stiffness, extremely high-response
Stiffness setting in auto tuning mode: the bigger the value is, the stronger the stiffness will
be.
Adjust the value of P2-31: Increase the value of P2-31 to increase stiffness or decrease to
reduce the noise. Continue to tune until the performance is satisfied. Then, tuning is
completed.
Servo Off. Set P2-32 to 1 and then Servo On.
Set P0-02 to 15. The panel
displays inertia ratio.
The servo drive issues the command of
alternately accelerate /decelerate.
YES
1. Decrease the value of P2-31 to
reduce the noise.
2. If users do not want to decrease
the value of P2-31, P2-23 and P2-24
can be used to suppress the
resonance as well.(Please refer to
Chapter 5.6.6.)
Any resonance?
NO
YES
Satisfactory
performance?
Tuning
completed
NO
High response is
required?
NO
YES
Increase the value of P2-31
to increase the response and
stiffness.
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Chapter 5 Trial Operation and Tuning
5.6.4 Flowchart of Semi-auto Tuning
Set P2-32 to 2 (semi-auto mode, non-continuous tuning)
After tuning for a while and wait until the system inertia is stable, it stops estimating. The
estimated inertia ratio will be saved to P1-37. When switching mode from manual or auto to
semi auto, the system starts tuning again. During the process of estimation, the system will
refer the stiffness and bandwidth setting of P2-31.
P2-31Response setting in auto mode (The default value is 40)
In auto and semi-auto mode, the bandwidth setting of speed circuit is:
1~50Hz: low-stiffness, low-response
51~250Hz: medium-stiffness, medium-response
251~850Hz: high-stiffness, high-response
851~1000Hz: extremely high-stiffness, extremely high-response
Response setting in semi-auto tuning mode: the bigger the value is, the better the response
will be.
Adjust the value of P2-31: Increase the value of P2-31 to increase the response or
decrease to reduce the noise. Continue to tune until the performance is satisfied. Then,
tuning is completed.
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Chapter 5 Trial Operation and Tuning
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Note:
1. If P2-33 bit 0 is set to 1, it means the inertia estimation in semi-auto mode is
completed. The result can be accessed by P1-37.
2. If the value of P2-33 bit 0 is cleared to 0, the system will start to estimate again.
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Chapter 5 Trial Operation and Tuning
5.6.5 Limit of Load Inertia Estimation
Acceleration / Deceleration time of reaching 2000r/min should be less than 1 second.
The speed in forward and reverse direction should be higher than 200r/min.
The load inertia should be under 100 times of motor inertia.
The change of external force of inertia ratio cannot be too severe.
In auto mode, the inertia value will be saved to P1-37 every 30 minutes; while in semi-auto
mode, the inertia value will be saved to P1-37 only until the system inertia is stable and
stops the estimation of load inertia.
5-18
April, 2013
Chapter 5 Trial Operation and Tuning
ASDA-M
Note:
1. Parameter P2-44 and P2-46 are the setting value of resonance suppression. If the
value has been set to the maximum (32dB), and still cannot suppress the
resonance, please reduce the speed bandwidth. After setting P2-47, users can
check the value of P2-44 and P2-46. If the value of P2-44 is not 0, it means the
resonance frequency exists in the system. Then, users can access P2-43 to see
the resonance frequency (Hz). When there is another resonance frequency, the
information will be shown in P2-45 and p2-46.
2. If resonance still exists, repeatedly set P2-47 to 1 for 3 times and manually adjust
the setting of resonance.
April, 2013
5-19
ASDA-M
Chapter 5 Trial Operation and Tuning
5.6.6 Mechanical Resonance Suppression Method
Three groups of Notch filter are provided to suppress mechanical resonance. Two of them
can be set to the auto resonance suppression and manual adjustment.
The procedure of manually suppress the resonance is as the followings:
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April, 2013
Chapter 5 Trial Operation and Tuning
ASDA-M
5.6.7 Tuning Mode and Parameters
Tuning mode
P2-32
Manual mode
0
(default
setting)
Auto mode
(continuous
estimation)
1
Semi-auto mode
(non-continuous
estimation)
2
Auto-set User-defined parameters
Inertia
parameters
adjustment
P1-37 (Inertia ratio of the
motor)
P2-00 (Position control
gain)
P2-04 (Speed control gain)
P2-06 (Speed integral
The value
N/A
compensation)
remains
P2-25 (Low-pass filter of
resonance
suppression)
P2-26 (Anti-interference
gain)
P1-37
Continuous
P2-00
P2-31 Frequency response
tuning (update
P2-04
of speed loop setting
the inertia
P2-06
in auto mode
every 30
P2-25
(response level)
minutes)
P2-26
P2-49
P1-37
Non-continuous
P2-00
P2-31 Frequency response tuning (stop
P2-04
of speed loop setting updating the
P2-06
in semi-auto mode
inertia after
P2-25
(response level)
operating for a
P2-26
while)
P2-49
When switching mode from auto mode 1 to manual mode 0, the value of P1-37, P2-00,
P2-04, P2-06, P2-25, P2-26 and P2-49 will be modified to the one in auto mode.
When switching mode from semi-auto mode 2 to manual mode 0, the value of P1-37,
P2-00, P2-04, P2-06, P2-25, P2-26 and P2-49 will be modified to the one in semi-auto
mode.
April, 2013
5-21
ASDA-M
Chapter 5 Trial Operation and Tuning
5.6.8 Tuning in Manual Mode
The selection of position / speed response frequency should be determined by the
machinary stiffness and application. General speaking, the high-frequency machinary or
the one requries precise processing needs the higher response frequency. However, it
might easily cause the resonance. And the stronger stiffness machinary is needed to avoid
the resonance. When using the unknown resonse frequency machinary, users could
gradually increase the gain setting value to increase the resonse frequency. Then,
decrease the gain setting value until the resonance exists. The followings are the related
descriptions of gain adjustment.

Position control gain (KPP, parameter P2-00)
This parameter determines the response of position loop. The bigger KPP value will
cause the higher response frequency of position loop. And it will cause better
following error, smaller position error, and shorter settling time. However, if the value
is set too big, the machinery will vibrate or overshoot when positioning. The
calculation of position loop frequency response is as the following:

Speed control gain (KVP, parameter P2-04)
This parameter determines the response of speed loop. The bigger KVP value will
cause the higher response frequency of speed loop and better following error.
However, if the value is set too big, it would easily cause machinery resonance. The
response frequency of speed loop must be 4~6 times higher than the response
frequency of position loop. Otherwise, the machinery might vibrate or overshoot
JM: motor inertia
when positioning. The calculation of speed loop frequency
response is as the
JL: load inertia
following:
P1-37: 0.1 times
When P1-37 (estimation or setting) equals the real inertia ratio (JL/JM), the real
speed loop frequency response will be:

=
K VP
Hz
2
Speed integral compensation (KVI, parameter P2-06)
The higher the KVI value is, the better capability of eliminating the deviation will be.
However, if the value is set too big, it might easily cause the vibration of machinery. It
is suggested to set the value as the following:
5-22
April, 2013
Chapter 5 Trial Operation and Tuning

ASDA-M
Low-pass filter of resonance suppression (NLP, parameter P2-25)
The high value of inertia ratio will reduce the frequency response of speed loop.
Therefore, the KVP value must be increased to maintain the response frequency.
During the process of increasing KVP value, it might cause machinary resonance.
Please use this parameter to elimiate the noise of resonance. The bigger the value is,
the better the capability of improving high-frequency noise will be. However, if the
value is set too big, it would cause the unstability of speed loop and overshoot. It is
suggested to set the value as the following:

Anti-interference gain (DST, parameter P2-26)
This parameter is used to strengthen the ability of resisting external force and
gradually eliminate overshoot during acceleration / deceleration. Its default value is 0.
It is suggested not to adjust the value in manual mode, unless it is for fine-tuning.

Position feed forward gain (PFG, parameter P2-02)
It can reduce the position error and shorten the settling time. However, if the value is
set too big, it might cause overshoot. If the setting of e-gear ratio is bigger than 10, it
might cause the noise as well.
April, 2013
5-23
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Chapter 5 Trial Operation and Tuning
(This page is intentionally left blank.)
5-24
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Chapter 6 Control Mode of
Operation
6.1 Selection of Operation Mode
Three basic operation modes are provided in this servo drive, position, speed and torque.
Users can use single mode (only in one-mode control) and dual mode to control. The
following table lists all operation mode and description.
Mode Name
Short
Name
Setting
Code
Description
The servo drive receives position command
Position mode
(Terminal input)
PT
00
and commands the motor to the target
position. The position command is input via
terminal block and receives pulse signal.
The servo drive receives position command
Position mode
(Register input)
PR
01
and commands the motor to the target
position. The position command is issued by
register (64 sets of register in total) and uses
DI signal to select the register.
The servo drive receives speed command
Single
Mode
Speed mode
S
02
and commands the motor to the target
speed. The speed command can be issued
by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives speed command
Speed mode
(No analog input)
April, 2013
Sz
04
and commands the motor to the target
speed. The speed command is issued by
register (3 sets of registers in total) and
cannot be issued by the external terminal
block. DI signal is used to select the
command source.
6-1
ASDA-M
Chapter 6 Control mode of operation
The servo drive receives torque command
Torque mode
T
03
and commands the motor to the target
torque. The torque command can be issued
by register (3 sets of registers in total) or the
external analog voltage (-10V ~ +10V). DI
signal is used to select the command source.
The servo drive receives torque command
Torque mode
(No analog input)
Mode Name
Dual mode
Multi mode
Tz
Short
Name
PT-S
05
and commands the motor to the target
torque. The torque command can be issued
by register (3 sets of registers in total) and
cannot be issued by the external terminal
block. DI signal is used to select the
command source.
Setting
Description
Code
06 Switch the mode of PT and S via DI signal.
PT-T
07
Switch the mode of PT and T via DI signal.
PR-S
08
Switch the mode of PR and S via DI signal.
PR-T
09
Switch the mode of PR and T via DI signal.
S-T
0A
Switch the mode of S and T via DI signal.
CANopen
0B
Control by the master
Reserved
0C
Reserved
PT-PR
0D
Switch the mode of PT and PR via DI signal.
PT-PR-S
0E
Switch the mode of PT, PR and S via DI
signal.
PT-PR-T
0F
Switch the mode of PT, PR and T via DI
signal.
Steps of switching mode:
1. Servo Off the servo drive first. It can be done by switching OFF SON signal.
2. Select the axis of desired changing mode first. Then, fill in the setting code in control
mode setting of parameter P1-01. Please refer to the description of Chapter 8.
3. After the setting is completed, turn off the servo drive and then re-power on will do.
The followings will introduce the operation of each mode, including the mode structure,
command source and selection, command processing and gain adjustment, etc.
6-2
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
6.2 Position Mode
The followings describe the related information and settings of position mode.
6.2.1 Position Command of PT Mode
PT, position command is the pulse input from terminal block. There are three types of
pulse and each type has positive/negative logic which can be set in parameter P1-00.
See as the followings.
P1-00▲
PTT
External Pulse Input Type
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0100H
0101H
Related Section:
Section 6.2.1
Communication
Default: 0x2
Control
Mode:
PT
Unit: Range: 0 ~ 1132
Data Size: 16bit
Format: HEX
Settings:

April, 2013
Pulse Type
0: AB phase pulse (4x)
1: Clockwise (CW) and Counterclockwise (CCW) pulse
2: Pulse + symbol
Other settings: reserved
6-3
ASDA-M
Chapter 6 Control mode of operation

Filter Width
If the received frequency is much higher than the setting, it will be
regarded as the noise and filtered out.
Setting
Value
0
1
2
3
4
NOTE
Low-speed filter
frequency
(Min. pulse width*note1)
0.83Mpps (600ns)
208Kpps (2.4us)
104Kpps (4.8us)
52Kpps (9.6us)
No filter function
Setting
Value
0
1
2
3
4
High-speed filter
frequency
(Min. pulse width*note1)
3.33Mpps (150ns)
0.83Mpps (600ns)
416Kpps (1.2us)
208Kpps (2.4us)
No filter function
1) When the source of external pulse is from the high-speed differential signal
and the setting value is 0 (the high-speed filter frequency is 3.33Mpps at the
moment), then:
If the user uses 2~4MHz input pulse, it is suggested to set the filter value to 4.
Note: When the signal is the high-speed pulse specification of 4 Mpps and the
settings value of the filter is 4, then the pulse will not be filtered.
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April, 2013
Chapter 6 Control Mode of Operation

ASDA-M
Logic Type
Logic Pulse Type
Forward
Reverse
0
Positive Logic
AB phase
pulse
CW and
CCW pulse
Pulse +
Symbol
1
Negative Logic
AB phase
pulse
CW and
CCW pulse
Pulse +
Symbol
Pulse
Specification
High-speed
pulse
Low-speed
pulse
Differential
Signal
Differential
Signal
Opencollector
T1
T2
T3
T4
T5
T6
4Mpps
62.5ns
125ns
250ns
200ns
125ns
125ns
500Kpps
0.5μs
1μs
2μs
2μs
1μs
1μs
200Kpps
1.25μ
s
2.5μs
5μs
5μs
2.5μs
2.5μs
Max. Input
Frequency
Voltage
Specification
Forward Current
Differential Signal
4Mpps
5V
< 25mA
Differential Signal
500Kpps
2.8V ~ 3.7V
< 25mA
Open-collector
200Kpps
24V (Max.)
< 25mA
Pulse Specification
High-speed
pulse
Low-speed
pulse
April, 2013
Minimum time width
Max. Input
Frequency
6-5
ASDA-M

Chapter 6 Control mode of operation
The Source of External Pulse:
0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN)
1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
Position pulse can be input from CN1 terminal, PULSE (43), /PULSE (41), HPULSE (38),
/HPULSE (29) and SIGN (36), /SIGN (37), HSIGN (46), /HSIGN (40). It could be
open-collector or Line Driver. Please refer to Chapter 3.9.1 for wiring method.
6.2.2 Position Command in PR Mode
PR position command source of each axis is from the 99-set of register which constituted
by parameters (P6-00, P6-01) ~ (P7-26, P7-99). Through communication, one of the
99-set of register can be used as the position command. When going with the external
DI/DO (CN1, POS0 ~POS5 and CTRG), one of the previous 64 sets of register can be
selected as the position command. See as the following table:
Position
POS5 POS4 POS3
command
POS2
POS1 POS0
P0
0
0
0
0
0
0
P1
0
0
0
0
0
1
CTRG
~
P6-00
P6-01
P6-02
P6-03
~
P50
1
1
0
0
1
0
P51
1
1
0
0
1
1
~
P63
Corresponding
parameter
P6-98
P6-99
P7-00
P7-01
~
1
1
1
1
1
1
P7-26
P7-27
Status of POS0 ~ POS5: 0 means the DI is OFF; 1 means the DI is ON.
CTRG : the moment DI is OFF to ON.
The application of absolute type and incremental type register is rather extensive. It is
more like a simple procedure control. Users can complete the cyclic operation by
referring to the above table. For example, position command P1 is 10 turns and P2 is 20
turns. P1 is issued first and P2 comes after. The following diagram shows the difference
of both.
6-6
April, 2013
Chapter 6 Control Mode of Operation
Absolute Type
ASDA-M
Incremental Type
20 turns
20 turns
10 turns
10 turns
6.2.3 Control Structure of Position Mode
The basic control structure is as the following diagram:
Pulse Signal
For a better control, the pulse signal should be processed and modified through position
command unit. Structure is shown as the diagram below.
The upper path of the above diagram is PR mode and the lower one is PT mode which
could be selected via P1-01. Both modes can set E-gear ratio for the proper position
resolution. Moreover, either S-curve filter or low-pass filter can be used to smooth the
command. See the description in later parts.
April, 2013
6-7
ASDA-M
Chapter 6 Control mode of operation
Pulse Command Inhibit Function (INHP)
Use DI to select INHP (Refer to P2-10~15 and table 8.1 INHP (45)) before using this
function. If not, this function will be unable to use. When DI (INHP) is ON, the pulse
command will be cleared in position control mode and the motor will stop running. (Only
DI 6 supports this function.)
INHP
ON
OFF
ON
Pulse
command
6.2.4 S-curve Filter (Position)
S-curve filter smoothes the motion command. With S-curve filter, the process of
acceleration becomes more continuous and the jerk will be smaller. It not only improves
the performance when motor accelerates / decelerates, but also smoothes the operation
of mechanical structure. When the load inertia increases, the operation of the motor will
be influenced by friction and inertia during the time of activation and stop. However, the
situation can be improved by increasing the value of Acceleration / Deceleration
Constant of S-Curve (TSL), Acceleration Constant of S-Curve (TACC) and Deceleration
Constant of S-Curve (TDEC). When the position command source is pulse, its speed and
angular acceleration is continuous, thus, S-curve filter is not a must.
6-8
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Related parameters:
P1-34
TACC
Acceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0144H
0145H
Related Section:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Acceleration Constant:
P1-34, P1-35 and P1-36, the acceleration time of speed
command from zero to the rated speed, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
April, 2013
6-9
ASDA-M
Chapter 6 Control mode of operation
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-34 will be set within 20000 automatically.
P1-35
TDEC
Deceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0146H
0147H
Related Section:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Deceleration Constant:
P1-34, P1-35 and P1-36, the deceleration time of speed
command from the rated speed to zero, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-35 will be set within 20000 automatically.
P1-36
Acceleration / Deceleration Constant of Address: 0148H
S-Curve
0149H
Parameter
Related Section:
Parameter for individual axis
Section 6.3.3
Attribute:
TSL
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
S,PR
Unit: ms
Range: 0 ~ 65500 (0: disable this function)
Data Size: 16bit
6-10
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Format: DEC
Settings: Acceleration / Deceleration Constant of S-Curve:
P1-34: Set the acceleration time of acceleration / deceleration of
trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of
trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and
deceleration
P1-34, P1-35 and P1-36 can be set individually. Even when
P1-36 is set to 0, it still has acceleration / deceleration of
trapezoid-curve.
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-36 will be set within 10000 automatically.
6.2.5 Electronic Gear Ratio
Related parameters:
P1-44▲
GR1
Gear Ratio (Numerator) (N1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0158H
0159H
Related Section:
Section 6.2.5
Communication
Default: 128
Control
Mode:
PT/PR
Unit: Pulse
29
Range: 1 ~ (2 -1)
Data Size: 32bit
Format: DEC
Settings: Please refer to P2-60~P2-62 for the setting of multiple gear ratio
(numerator).
April, 2013
6-11
ASDA-M
Chapter 6 Control mode of operation
NOTE 1) In PT mode, the setting value can be changed when Servo ON.
2) In PR mode, the setting value can be changed when Servo
OFF.
P1-45
GR2
Address: 015AH
015BH
Related Section:
Section 6.2.5
Gear Ratio (Denominator) (M)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 10
Control
Mode:
PT/PR
Unit: Pulse
31
Range: 1 ~ (2 -1)
Data Size: 32bit
Format: DEC
Settings: If the setting is wrong, the servo motor will easily have sudden
unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse
input
N
Position
command
N
f2 = f1 x
f1
M
f2
M
Range of command pulse input : 1/50<Nx/M<25600
NOTE
1) The setting value cannot be changed when Servo ON neither
in PT nor in PR mode.
Electronic gear provides simple ratio change of travel distance. The high electronic gear
ratio would cause the position command to be the stepped command. S-curve or
low-pass filter can be used to improve the situation. When electronic gear ratio is set to 1,
the motor will turn one cycle for every 1280000PUU. When electronic gear ratio is
changed to 0.5, then every two pulses from the command will be refer to one PUU of
motor encoder.
6-12
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
For example: after setting the electronic gear ratio properly, the moving distance of the
object is 1μm/pulse, which is easier to use.
Gear Ratio
Electronic gear is
unapplied.
Electronic gear is
applied.
1
1
10000

3000

Moving distance of each pulse command

3  1000
3000

 m
4  2500 10000
 1m
6.2.6 Low-pass Filter
Related parameters:
P1-08
PFLT
Smooth Constant of Position
Command (Low-pass Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0110H
0111H
Related Section:
Section 6.2.6
Communication
Default: 0
Control
Mode:
PT/PR
Unit: 10 ms
Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
Example: 11 = 110 ms
Settings: 0: Disabled
April, 2013
6-13
ASDA-M
Chapter 6 Control mode of operation
6.2.7 Timing Diagram in Position Mode (PR)
In PR mode, the position command is selected by either DI signal (POS0~POS5 and
CTRG) of CN1 or communication. Please refer to Section 6.2.2 for the information about
DI signal and its selected register. Followings are the timing diagrams.
6-14
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
6.2.8 Gain Adjustment of Position Loop
Before setting the position control unit, users have to manually (P2-32) complete the
setting of speed control unit since the speed loop is included in position loop. Then, set
the proportional gain (parameter P2-00) and feed forward gain (parameter P2-02) of
position loop. Users also can use the auto mode to set the gain of speed and position
control unit automatically.
1) Proportional gain: Increase the gain so as to enhance the response bandwidth of
position loop.
2) Feed forward gain: Minimize the deviation of phase delay
The position loop bandwidth cannot exceed the speed loop bandwidth. It is suggested
fv
that fp  .
4
fv: response bandwidth of speed loop (Hz).
KPP = 2 ×  × fp.
fp: response bandwidth of position loop (Hz).
For example, the desired position bandwidth is 20 Hz  KPP = 2 ×  × 20= 125.
Related parameters:
P2-01
PPR
Switching Rate of Position Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0202H
0203H
Related Section:
Section 6.2.8
Communication
Default: 100
Control
Mode:
PT/PR
Unit: %
Range: 10 ~ 500
Data Size: 16bit
Format: DEC
Settings: Switch the changing rate of position loop gain according to the
gain-switching condition.
April, 2013
6-15
ASDA-M
P2-02
Chapter 6 Control mode of operation
PFG
Position Feed Forward Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0204H
0205H
Related Section:
Section 6.2.8
Communication
Default: 50
Control
Mode:
PT/PR
Unit: %
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: If the position command is changed smoothly, increase the gain
value can reduce the position error. If the position command is not
changed smoothly, decreasing the gain value can reduce the
vibration of the mechanism.
When the value of proportional gain, KPP is set too big, the response bandwidth of
position loop will be increased and diminish the phase margin. And the motor rotor
rotates vibrantly in forward and reverse direction at the moment. Thus, KPP has to be
decreased until the rotor stops vibrating. When the external torque interrupts, the
over-low KPP cannot meet the demand of position deviation. In this situation, parameter
P2-02 can effectively reduce the position error.
6-16
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
6.2.9 Low-frequency Vibration Suppression in Position Mode
If the stiffness is not enough, the mechanical transmission will continue to vibrate even
when the motor stops after completing the positioning command. The function of
low-frequency vibration suppression can eliminate the vibration of mechanical
transmission. The range is between 1.0Hz and 100.0HZ. Both manual setting and auto
setting are provided.
Auto setting:
If the frequency is hard to find, it can enable the function of auto low-frequency vibration
suppression. This function automatically searches the frequency of low-frequency
vibration. If P1-29 is set to 1, the system will disable the function of low-frequency
vibration suppression automatically and starts to search the vibration frequency. When
the detected frequency remains at the same level, P1-29 will be set to 0 automatically
and set the first frequency in P1-25 and set P1-26 to 1. The second frequency will be set
in P1-27 and then set P1-28 to 1. If P1-29 is automatically set back to 0 and still has
low-frequency vibration, please check if the function of P1-26 or P1-28 is enabled. If the
April, 2013
6-17
ASDA-M
Chapter 6 Control mode of operation
value of P1-26 and P1-28 is 0, it means no frequency has been detected. Please
decrease the value of P1-30 and set P1-29 to 1 so as to search the vibration frequency
again. Please note that when the detection level is set too small, the noise will be
regarded as the low-frequency.
Flowchart of auto low-frequency vibration suppression:
Note 1: When the value of P1-26 and P1-28 is 0, it means it is unable to search the
frequency. It is probably because the detection level is set too high and is unable
to detect the low-frequency vibration.
Note 2: When the value of P1-26 or P1-28 is not set to 0 and still cannot eliminate the
vibration, it is probably because the detection level is set too low, the system
regards the noise or other non-primary frequency as the low-frequency vibration.
Note 3: When the process of auto vibration suppression is completed and the vibration
still cannot be diminished, P1-25 or P1-27 can be manually set to suppress the
vibration if the frequency (Hz) of the low-frequency is identified.
6-18
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
The related parameters of auto vibration suppression:
Auto
Low-frequency
Vibration Address: 013AH
P1-29
AVSM
Supression Setting
013BH
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PT / PR
Unit: Range: 0 ~ 1
Data Size: 16bit
Format: DEC
Settings: 0: The function is disabled.
1: The value will set back to 0 after vibration suppression.
Description of Auto Mode Setting:
When the parameter is set to 1, it is in auto suppression. When
the vibration frequency is not being detected or the value of
searched frequency is stable, the parameter will set to 0 and save
the low-frequency vibration suppression to P1-25 automatically.
P1-30
VCL
Low-frequency Vibration Detection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 013CH
013DH
Related Section:
Section 6.2.9
Communication
Default: 500
Control
Mode:
PT / PR
Unit: Pulse
Range: 1 ~ 8000
Data Size: 16bit
Format: DEC
April, 2013
6-19
ASDA-M
Chapter 6 Control mode of operation
Settings: When enabling the auto suppression (P1-29 = 1), it will
automatically search the detection level. The lower the value is,
the more sensitive of the detection will be. However, it is easy to
misjudge the noise or regard the other low-frequency vibration as
the suppression frequency. If the value is bigger, the system will
make more precise judgment. However, if the vibration of the
mechanism is smaller, it might not detect the frequency of
low-frequency vibration.
P1-30 is to set the range to detect the magnitude of low-frequency vibration. When the
frequency is not being detected, it is probably because the value of P1-30 is set too big
which exceeds the range of vibration. It is suggested to decrease the value of P1-30.
Please note that if the value is too small, the system might regard the noise as the
vibration frequency. If the SCOPE is available, it can be used to observe the range of
position error (pulse) between upper and lower magnitude of the curve and set up the
appropriate value of P1-30.
Manual Setting:
There are two sets of low-frequency vibration suppression. One is parameter
P1-25~P1-26 and another one is parameter P1-27~P1-28. These two sets of
low-frequency vibration suppression can be used to eliminate two different frequency
vibration. Parameter P1-25 and P1-27 are used to suppress the low-frequency vibration.
The function is working only when the parameter setting value of low-frequency vibration
close to the real vibration frequency. Parameter P1-26 and P1-28 are used to set the
response after filter. The bigger the setting value of P1-26 and P1-28 is, the better
response will be. However, if the value is set too big, the motor might not operate
smoothly. The default value of parameter P1-26 and P1-28 is 0, which means the
function is disabled. Followings are the related parameters:
P1-25
Low-frequency Vibration Suppression Address: 0132H
(1)
0133H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSF1
Operational
Panel / Software
Interface:
Communication
Default: 1000
Control
Mode:
PT / PR
Unit: 0.1 Hz
Range: 10 ~ 1000
6-20
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Data Size: 16bit
Format: DEC
Example: 150= 15 Hz
Settings: The setting value of the first low-frequency vibration suppression.
If P1-26 is set to 0, then it will disable the first low-frequency filter.
P1-26
Low-frequency Vibration Suppression Address: 0134H
Gain (1)
0135H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSG1
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PT / PR
Unit: Range: 0 ~ 9 (0: Disable the first low-frequency
filter)
Data Size: 16bit
Format: DEC
Settings: The first low-frequency vibration suppression gain. The bigger the
value it is, the better the position response will be. However, if the
value is set too big, the motor will not be able to operate smoothly.
It is suggested to set the value to 1.
P1-27
Low-frequency Vibration Suppression Address: 0136H
(2)
0137H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSF2
Operational
Panel / Software
Interface:
Communication
Default: 1000
Control
Mode:
PT / PR
Unit: 0.1 Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
April, 2013
6-21
ASDA-M
Chapter 6 Control mode of operation
Example: 150 = 15 Hz
Settings: The setting value of the second low-frequency vibration
suppression. If P1-28 is set to 0, then it will disable the second
low-frequency filter.
P1-28
Low-frequency Vibration Suppression Address: 0138H
Gain (2)
0139H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSG2
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PT / PR
Unit: Range: 0 ~ 9 (0: Disable the second
low-frequency filter)
Data Size: 16bit
Format: DEC
Settings: The second low-frequency vibration suppression gain. The bigger
the value it is, the better the position response will be. However, if
the value is set too big, the motor will not be able to operate
smoothly. It is suggested to set the value to 1.
6-22
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
6.3 Speed Mode
Speed control mode (S or Sz) is applicable in precision speed control, such as CNC
machine tools. This servo drive includes two types of command input, analog and register.
Analog command input can use external voltage to control the motor speed. There are two
methods in register input. One is used before operation. Users set different value of speed
command in three registers, and then use SP0, SP1 of CN1 DI signal for switching. Another
method is to change the value of register by communication. In order to deal with the
problem of non-continuous speed command when switching register, a complete S-curve
program is provided. In close-loop system, this servo drive adopts gain adjustment and
integrated PI controller and two modes (manual and auto) for selection.
Users can set all parameters and all auto or auxiliary function will be disabled in manual
mode. While in auto mode, it provides the function of load inertia estimation and parameter
adjustment. In auto mode, parameters which set by users will be regarded as the default
value.
6.3.1 Selection of Speed Command
There are two types of speed command source, analog voltage and internal parameters.
The selection is determined by CN1 DI signal. See as the followings.
Speed
CN1 DI Signal
Command
SPD1 SPD0
No.
S1
0
0
Command Source
External
S analog
command
Mode
Sz N/A
S2
S3
S4
0
1
1
1
0
1
Register parameters
Content
Range
Voltage deviation
between V-REF
-10 V ~ +10V
and GND
Speed command
0
is 0
-60000 ~ 60000
P1-09
P1-10
-60000 ~ 60000
P1-11
-60000 ~ 60000

Status of SPD0 ~ SPD1: 0 means DI OFF, 1 means DI ON.

When both SPD0 and SPD1 are 0, if it is in Sz mode, the command will be 0. Thus, if
there is no need to use analog voltage as the speed command, Sz mode can be
applied to tackle the problem of zero-drift. If it is in S mode, the command will be the
voltage deviation between V-REF and GND. The range of input voltage is between
-10V and +10V and its corresponding speed is adjustable (P1-40).

When one of SPD0 and SPD1 is not 0, the speed command is from the internal
parameter. The command is activated after changing the status of SPD0~SPD1.
There is no need to use CTRG for triggering.
April, 2013
6-23
ASDA-M

Chapter 6 Control mode of operation
The setting range of internal parameters is between -60000 and 60000. Setting
value = setting range x unit (0.1r/min).
For example: P1-09 = +30000, setting value = +30000 x 0.1r/min = +3000r/min
The speed command not only can be issued in speed mode (S or Sz), but also in torque
mode (T or Tz) as the speed limit.
6.3.2 Control Structure of Speed Mode
The basic control structure is shown as the following diagram:
The speed command unit is to select speed command source according to Section 6.3.1,
including the scaling (P1-40) setting and S-curve setting. The speed control unit
manages the gain parameters of the servo drive and calculates the current command for
servo motor in time. The resonance suppression unit is to suppress the resonance of
mechanism. Detailed descriptions are shown as the following:
Here firstly introduces the function of speed command unit. Its structure is as the
following diagram.
6-24
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of SPD0, SPD1 and
P1-01(S or Sz). Usually, S-curve and low-pass filter are applied for having a smooth
resonance of command.
April, 2013
6-25
ASDA-M
Chapter 6 Control mode of operation
6.3.3 Smooth Speed Command
S-curve Filter
During the process of acceleration or deceleration, S-curve filter applies the program of
three-stage acceleration curve for smoothing the motion command, which generates the
continuous acceleration. It is for avoiding the jerk (the differentiation of acceleration)
came from the sudden command change and indirectly causes the resonance and noise.
Users can use acceleration constant of S-curve (TACC) to adjust the slope changed by
acceleration, deceleration constant of S-curve (TDEC) to adjust the slope changed by
deceleration and acceleration / deceleration constant of S-curve (TSL) to improve the
status of motor activation and stop. The calculation of the time to complete the command
is provided.
The relation between S-curve and time setting
Related parameters:
P1-34
TACC
Acceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0144H
0145H
Related Section:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
6-26
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Acceleration Constant:
P1-34, P1-35 and P1-36, the acceleration time of speed
command from zero to the rated speed, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-34 will be set within 20000 automatically.
P1-35
TDEC
Deceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0146H
0147H
Related Sections:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Deceleration Constant:
P1-34, P1-35 and P1-36, the deceleration time of speed
command from the rated speed to zero, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
NOTE
April, 2013
1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-35 will be set within 20000 automatically.
6-27
ASDA-M
P1-36
Chapter 6 Control mode of operation
Acceleration / Deceleration Constant of Address: 0148H
S-Curve
0149H
Parameter
Related Section:
Parameter for individual axis
Section 6.3.3
Attribute:
TSL
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
S,PR
Unit: ms
Range: 0 ~ 65500 (0:disable this function)
Data Size: 16bit
Format: DEC
Settings: Acceleration / Deceleration Constant of S-Curve:
P1-34: Set the acceleration time of acceleration / deceleration of
trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of
trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and
deceleration
P1-34, P1-35 and P1-36 can be set individually. Even when
P1-36 is set to 0, it still has acceleration / deceleration of
trapezoid-curve.
NOTE
6-28
1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-36 will be set within 10000 automatically.
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Analog Speed Command Filter
Analog speed command filter is provided especially for ASDA-M series users. It mainly
helps with buffer when the analog input signal changes too fast.
Speed (rpm)
Analog speed command
Motor Torque
3000
0
1
2
3
4
5
6
7
8
9
Time (sec)
-3000
Analog speed command filter smooth the analog input command. Its time program is the
same as S-curve filter in normal speed. Also, the speed curve and the acceleration curve
are both continuous. The above is the diagram of analog speed command filter. The
slope of speed command in acceleration and deceleration is different. Users could adjust
the time setting (P1-34, P1-35 and P1-36) according to the actual situation to improve
the performance.
Command end low-pass filter
It is usually used to eliminate the unwanted high-frequency response or noise. It also can
smooth the command.
Related parameters:
P1-06
SFLT
Analog Speed Command (Low-pass
Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 010CH
010DH
Related Section:
Section 6.3.3
Communication
Default: 0
Control
Mode:
S
Unit: ms
Range: 0 ~ 1000 (0: disable this function)
Data Size: 16bit
Format: DEC
April, 2013
6-29
ASDA-M
Chapter 6 Control mode of operation
Settings: 0: Disabled
Target Speed
SFLT
6.3.4 The Scaling of Analog Command
The motor speed command is controlled by the analog voltage deviation between V_REF
and VGND. Use parameter P1-40 to adjust the speed-control slope and its range.
Related parameters:
For example: Set P1-40 to 2000, the input voltage 10V corresponds to 2000r/min, speed
command.
P1-40▲
Maximum Speed of Analog Speed Address: 0150H
Command
0151H
Parameter
Related Section:
Parameter for individual axis
Section 6.3.4
Attribute:
VCM
Operational
Panel / Software
Interface:
Communication
Default: Same as the rated speed of each model
Control
Mode:
6-30
S/T
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Unit: r/min
Range: 0 ~ 10000
Data Size: 16bit
Format: DEC
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing
speed setting of the max. voltage (10V). For example, if the
setting is 3000, when the external voltage inputs 10V, it means
the speed control command is 3000r/min. If the external voltage
input is 5V, then the speed control command is 1500r/min.
Speed control command = input voltage value x setting value/10
In position or torque mode, analog speed limit inputs the swing
speed limit setting of the max. voltage (10V).
Speed limit command = input voltage value x setting value/10
6.3.5 The Timing Diagram in Speed Mode
NOTE
April, 2013
1) OFF means the contact point is open while ON means the contact
point is close.
2) When it is in Sz mode, the speed command S1 = 0; When it is in S
mode, the speed command S1 is the external analog voltage input.
3) When the servo drive is On, please select the command according to
SPD0~SPD1 status.
6-31
ASDA-M
Chapter 6 Control mode of operation
6.3.6 Gain Adjustment of Speed Loop
Here introduces the function of speed control unit. The following shows its structure.
Many kinds of gain in speed control unit are adjustable. Two ways, manual and auto, are
provided for selection.
Manual: All parameters are set by users and the auto or auxiliary function will be disabled
in this mode.
Auto: General load inertia estimation is provided. It adjusts the parameter automatically.
Its framework is divided into PI auto gain adjustment and PDFF auto gain
adjustment.
6-32
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Parameter P2-32 can be used to adjust the gain.
P2-32▲
AUT2
Tuning Mode Selection
Parameter
Parameter for individual axis
Attribute:
Operation
al Interfac Panel / Software
e:
Address: 0240H
0241H
Related Section:
Section 5.6
Section 6.3.6
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x2
Data Siz
16bit
e:
Format: HEX
Settings: 0: manual mode
1: auto mode (continuous adjustment)
2: semi-auto mode (non- continuous adjustment)
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such as
P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26, all can be
set by the user.
When switching mode from auto or semi-auto to manual,
parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to
P1-37 every 30 minutes automatically and refer to the stiffness and
bandwidth setting of P2-31.
1. Set the system to manual mode 0 from auto 1 or semi-auto 2,
the system will save the estimated inertia value to P1-37
automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from
manual mode 0, please enter the appropriate value in P1-37.
3. Set the system to manual mode 0 from auto mode 1, P2-00,
P2-04 and P2-06 will be modified to the corresponding
parameters of auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2,
P2-00, P2-04, P2-06, P2-25 and P2-26 will be modified to the
corresponding parameters of semi-auto mode.
April, 2013
6-33
ASDA-M
Chapter 6 Control mode of operation
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system starts
to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
Manual Mode
When P2-32 is set to 0, users can define Speed Loop Gain (P2-04), Speed Integral
Compensation (P2-06) and Speed Feed Forward Gain (P2-07). Influence of each
parameter is as the followings.
Proportional gain: To increase proportional gain can enhance the response frequency of
speed loop.
Integral gain: To increase the integral gain could increase the low-frequency stiffness of
speed loop, reduce the steady-state error and sacrifice the phase margin.
The over high integral gain will cause the instability of the system.
Feed forward gain: Diminish the deviation of phase delay.
Related parameters:
P2-04
KVP
Speed Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0208H
0209H
Related Section:
Section 6.3.6
Communication
Default: 500
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16bit
Format: DEC
6-34
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Settings: Increasing the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.
P2-06
KVI
Speed Integral Compensation
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 020CH
020DH
Related Section:
Section 6.3.6
Communication
Default: 100
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16bit
Format: DEC
Settings: Increasing the value of speed integral compensation can enhance
speed response and diminish the deviation of speed control.
However, if the value is set too big, it would easily cause
resonance and noise.
P2-07
KVF
Speed Feed Forward Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 020EH
020FH
Related Section:
Section 6.3.6
Communication
Default: 0
Control
Mode:
ALL
Unit: %
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: When the speed control command runs smoothly, increasing the
gain value can reduce the speed command error. If the command
does not run smoothly, reducing the gain value can reduce the
mechanical vibration during operation.
April, 2013
6-35
ASDA-M
Chapter 6 Control mode of operation
Theoretically, stepping response can be used to explain proportional gain (KVP), integral
gain (KVI) and feed forward gain (KVF). Here, the frequency domain and time domain
are used to illustrate the basic principle.
Frequency Domain
6-36
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Time Domain
The bigger KVP value cause
higher bandwidth and shorten the
rising time. However, if the value is
set too big, the phase margin will
be too small.
To steady-state error, the result is
not as good as KVI. But it helps to
reduce the dynamic following error.
The bigger KVI value cause
greater low-frequency gain and
shorten the time the steady-state
error returns to zero. However, the
phase margin will dramatically
decrease as well.
To steady-state error, it is very
helpful but shows no benefit to
dynamic following error.
If the KVF value closes to 1, the
feed forward compensation will be
more complete and the dynamic
following error will become smaller.
However, if the KVF value is set
too big, it would cause vibration.
Generally, instrument is needed when applying frequency domain for measurement.
Users are required to adopt the measurement techniques; while time domain only needs
a scope and goes with the analog input / output terminal provided by the servo drive.
Thus, time domain is frequently used to adjust PI controller. The abilities of PI controller
to deal with the resistance of torque load and the following command are the same.
April, 2013
6-37
ASDA-M
Chapter 6 Control mode of operation
That is to say, the following command and resistance of torque load have the same
performance in frequency domain and time domain. Users can reduce the bandwidth by
setting the low-pass filter in command end.
Auto Mode
Auto mode adopts adaptive principle. The servo drive automatically adjusts the
parameters according to the external load. Since the adaptive principle takes longer time,
it will be unsuitable if the load changes too fast. It would be better to wait until the load
inertia is steady or changes slowly. Depending on the speed of signal input, the adaptive
time will be different from one another.
6.3.7 Resonance Suppression
When resonance occurs, it is probably because the stiffness of the control system is too
strong or the response is too fast. Eliminating these two factors might improve the
situation. In addition, low-pass filter (parameter P2-25) and notch filter (parameter P2-23
and P2-24) are provided to suppress the resonance if not changing the control
parameters.
Related parameters:
P2-23
NCF1
Resonance Suppression (Notch filter)
(1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 022EH
022FH
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
6-38
ALL
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
Unit: Hz
Range: 50 ~ 1000
Data Size: 16bit
Format: DEC
Settings: The first setting value of resonance frequency. If P2-24 is set to 0,
this function is disabled. P2-43 and P2-44 are the second Notch
filter.
P2-24
DPH1
Resonance Suppression (Notch filter)
Attenuation Rate (1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0230H
0231H
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: disable the function of Notch
filter)
Data Size: 16bit
Format: DEC
Settings: The first resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is
disabled.
P2-43
NCF2
Resonance Suppression (Notch filter)
(2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0256H
0257H
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16bit
April, 2013
6-39
ASDA-M
Chapter 6 Control mode of operation
Format: DEC
Settings: The second setting value of resonance frequency. If P2-44 is set
to 0, this function is disabled. P2-23 and P2-24 are the first Notch
filter.
P2-44
DPH2
Resonance Suppression (Notch filter)
Attenuation Rate (2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0258H
0259H
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: disable Notch filter)
Data Size: 16bit
Format: DEC
Settings: The second resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is
disabled.
P2-45
NCF3
Resonance Suppression (Notch filter)
(3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 025AH
025BH
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16bit
Format: DEC
Settings: The third group of mechanism resonance frequency setting value.
If set P2-46 to 0, this function will be disabled. P2-23 and P2-24
are the first group of resonance suppression (Notch filter).
6-40
April, 2013
Chapter 6 Control Mode of Operation
P2-46
DPH3
ASDA-M
Resonance Suppression (Notch filter)
Attenuation Rate (3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 025CH
025DH
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32
Data Size: 16bit
Format: DEC
Settings: The third group of resonance suppression (Notch filter)
attenuation rate. Set the value to 0 to disable the function of
Notch filter.
P2-25
NLP
Low-pass Filter of Resonance
Suppression
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 0.2 (under 1kW) or
0.5 (other model)
Control
ALL
Mode:
Unit: 1 ms
Range: 0.0 ~ 100.0
Address: 0232H
0233H
Related Section:
Section 6.3.7
Communication
2 (under 1kW) or
5 (other model)
0.1 ms
0 ~ 1000
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 ms
DEC
15 = 1.5 ms
Settings: Set the low-pass filter of resonance suppression. When the value
is set to 0, the function of low-pass filter is disabled.
April, 2013
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Chapter 6 Control mode of operation
There are two sets of auto resonance suppression, one is P2-43 and P2-44 and another
one is P2-45 and P2-46. When the resonance occurs, set P2-47 to 1 or 2 (enable the
function of resonance suppression), the servo drive searches the point of resonance
frequency and suppresses the resonance automatically. Write the point of frequency into
P2-43 and P2-45 and write the attenuation rate into P2-44 and P2-46. When P2-47 is set to
1, the system will set P2-47 to 0 (disable the function of auto suppression) automatically
after completing resonance suppression and the system is stable for 20 minutes. When
P2-47 is set to 2, the system will keep searching the point of resonance.
When P2-47 is set to 1 or 2, but resonance still exists, please confirm the value of
parameter P2-44 and P2-46. If one of them is 32, it is suggested to reduce the speed
bandwidth first and then start to estimate again. If the value of both is smaller than 32 and
resonance still exists, please set P2-47 to 0 first and then manually increase the value of
P2-44 and P2-46. It is suggested to reduce the bandwidth if the resonance has not been
improved. Then use the function of auto resonance suppression.
When manually increase the value of P2-44 and P2-46, please check if the value of both is
bigger than 0. If yes, it means the frequency point of P2-43 and P2-45 is the one searched
by auto resonance suppression. If the value of both is 0, it means the default, 1000 of
P2-43 and P2-45 is not the one searched by auto resonance suppression. Deepen the
resonance suppression attenuation rate might worsen the situation.
P2-47 Function Table
P2-47
Current value
0
P2-47
Desired value
1
Function
Clear the value of P2-43~P2-46 and enable the function of
auto resonance suppression.
0
2
Clear the value of P2-43~P2-46 and enable the function of
auto resonance suppression.
1
6-42
0
Save the current value of P2-43~P2-46 and disable the
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
function of auto resonance suppression.
1
1
Clear the value of P2-43~P2-46 and enable the function of
auto resonance suppression.
1
2
Not clear the value of P2-43~P2-46 and continue to enable
the function of auto resonance suppression.
2
0
Save the current value of P2-43~P2-46 and disable the
function of auto resonance suppression.
2
1
Clear the value of P2-43~P2-46 and enable the function of
auto resonance suppression.
2
2
Not clear the value of P2-43~P2-46 and continue to enable
the function of auto resonance suppression.
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Chapter 6 Control mode of operation
Flowchart of Auto Resonance Suppression:
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Chapter 6 Control Mode of Operation
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Here illustrates the effect via low-pass filter (parameter P2-25). The following diagram is
the system open-loop gain with resonance.
Gain
Frequency
When the value of P2-25 is increased from 0, BW becomes smaller (See as the following
diagram). Although it solves the problem of resonance frequency, the response
bandwidth and phase margin is reduced.
Gain
0dB
BW
Frequency
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can
directly eliminate the resonance. The frequency setting range of notch filter is merely
from 50 to 1000Hz. The suppression strength is from 0 to 32dB. If the resonance
frequency is not within the range, it is suggested to use low-pass filter (parameter P2-25).
Here firstly illustrates the influence brought by notch filter (P2-23 and P2-24) and
low-pass filter (P2-25). The following diagrams are the system of open-loop gain with
resonance.
Resonance suppression with notch filter
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Chapter 6 Control mode of operation
Resonance suppression with low-pass filter
When the value of P2-25 is increased from 0, BW becomes smaller. Although it solves
the problem of resonance frequency, the response bandwidth and phase margin is
reduced. Also, the system becomes unstable.
If users know the resonance frequency, notch filter (parameter P2-23 and P2-24) can
directly eliminate the resonance. In this case, notch filter will be more helpful than
low-pass filter. However, if the resonance frequency drifts because of time or other
factors, notch filter will not do.
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April, 2013
Chapter 6 Control Mode of Operation
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6.4 Torque Mode
Torque control mode (T or Tz) is appropriate in torque control application, such as printing
machine, winding machine, etc. There are two kinds of command source, analog input and
register. Analog command input uses external voltage to control the torque of the motor
while register uses the internal parameters (P1-12~P1-14) as the torque command.
6.4.1 Selection of Torque Command
Torque command source are external analog voltage and parameters. It uses CN1 DI
signal for selection. See as below.
Torque CN1 DI signal
command TCM1 TCM0
No.
T1
0
0
Command Source
External
T analog
command
Mode
Tz N/A
T2
T3
T4
0
1
1
1
0
1
Parameters
Content
Range
Voltage deviation
between T-REF
-10 V ~ +10V
and GND
Torque command
0
is 0
P1-12
-300% ~ 300%
P1-13
-300% ~ 300%
P1-14
-300% ~ 300%

The status of TCM0 ~ TCM1: 0 means DI OFF and 1 means DI ON.

When TCM0 = TCM1 = 0, if it is in Tz mode, then the command is 0. Thus, if there is
no need to use analog voltage as torque command, Tz mode is applicable and can
avoid the problem of zero drift. If it is in T mode, the command will be the voltage
deviation between T-REF and GND. Its input voltage range is -10V~+10V, which
means the corresponding torque is adjustable (P1-41).

When neither TCM0 nor TCM1 is 0, parameters become the source of torque
command. The command will be executed after TCM0 ~ TCM1 are changed. There
is no need to use CTRG for triggering.
The torque command can be used in torque mode (T or Tz) and speed mode (S or Sz).
When it is in speed mode, it can be regarded as the command input of torque limit.
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Chapter 6 Control mode of operation
6.4.2 Control Structure of Torque Mode
The basic control structure is as the following diagram:
The torque command unit is to select speed command source according to Section 6.4.1,
including the scaling (P1-40) setting and S-curve setting. The current control unit
manages the gain parameters of the servo drive and calculates the current for servo
motor in time. Since the current control unit is very complicated, and is not relevant to the
application. There is no need to adjust parameters. Only command end setting is
provided.
The structure of torque command unit is as the following diagram.
The upper path is the command from register while the lower one is external analog
command. The command is selected according to the status of TCM0, TCM1 and P1-01
(T or Tz). The torque represented by analog voltage command can be adjusted via the
scaling and can obtain a smoother response via low-pass filter.
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Chapter 6 Control Mode of Operation
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6.4.3 Smooth Torque Command
Related parameter:
P1-07
TFLT
Analog Torque Command (Low-pass
Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 010EH
010FH
Related Section:
Section 6.4.3
Communication
Default: 0
Control
Mode:
T
Unit: ms
Range: 0 ~ 1000 (0: disable this function)
Data Size: 16bit
Format: DEC
Settings: 0: Disabled
Target Speed
TFLT
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Chapter 6 Control mode of operation
6.4.4 The Scaling of Analog Command
The motor torque command is controlled by the analog voltage deviation between
T_REF and GND and goes with parameter P1-41 to adjust the torque slope and its
range.
Related parameter:
P1-41▲
Maximum Output of Analog Torque Address: 0152H
Speed
0153H
Parameter
Related Section:
Parameter for individual axis
Section 6.4.4
Attribute:
TCM
Operational
Panel / Software
Interface:
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
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Chapter 6 Control Mode of Operation
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Settings: Maximum Output of Analog Torque Speed:
In torque mode, the analog torque command inputs the torque
setting of the max. voltage (10V). When the default setting is 100,
if the external voltage inputs 10V, it means the torque control
command is 100% rated torque. If the external voltage inputs 5V,
then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value/
10 (%)
In speed, PT and PR mode, the analog torque limit inputs the
torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value/10
(%)
For example: Set P1-41 to 100, the input voltage 10V corresponds to 100% rated torque.
6.4.5 The Timing Diagram in Torque Mode
NOTE
April, 2013
1) OFF means the contact point is open while ON means the contact
point is close.
2) When it is in Tz mode, the torque command T1 = 0; When it is in T
mode, the torque command T1 is the external analog voltage input.
3) When the servo drive is Servo On, please select the command
according to TCM0~TCM1 status.
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Chapter 6 Control mode of operation
6.5 Dual Mode
Apart from single mode, dual mode is also provided for operation. According to Section 6.1,
dual modes are as followings:
1.
Speed/position dual mode (PT-S, PR-S, PT-PR)
2.
Speed/torque dual mode (S-T)
3.
Torque/position dual mode (PT-T, PR-T)
4.
Position speed multi mode (PT-PR-S)
5.
Position torque multi mode (PT-PR-T)
Mode
Name
Short Name
PT-S
PT-T
Dual Mode
Multi Mode
Setting
Description
Code
06
PT and S can be switched via DI signal, S_P.
07
PT and T can be switched via DI signal, T_P.
PR-S
08
PR and S can be switched via DI signal, S_P.
PR-T
09
PR and T can be switched via DI signal, T_P.
S-T
0A
S and T can be switched via DI signal, S_T.
PT-PR
0D
PT and PR can be switched via DI signal, PT_PR.
PT-PR-S
0E
PT , PR and S can be switched via DI signal, S_P
and PT_PR.
PT-PR-T
0F
PT , PR and T can be switched via DI signal, T_P
and PT_PR.
Sz and Tz dual mode is not provided here. For avoiding occupying too many digital inputs
in dual mode, speed and torque mode can use external analog voltage as the command
source so as to reduce digital input (SPD0, SPD1 or TCM0, TCM1). Please refer to Chapter
3.3.2, table 3.1, Default Value of DI Input Function and table 3.2, Default Value of DO
Output Function for the default DI/DO of each mode.
The relationship between DI/DO signals and PIN define are set after the mode is selected.
If users desire to change the setting, please refer to Chapter 3.3.4.
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Chapter 6 Control Mode of Operation
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6.5.1 Speed/ Position Dual Mode
There are PT-S and PR-S in speed/position dual mode. The command source of the
former one comes from external pulse while the latter one comes from internal
parameters (P6-00~P7-27). Speed command could be issued by external analog voltage
or internal parameters (P1-09~P1-11). The switch of speed/position mode is controlled
by S-P signal and the switch of PR-S mode is controlled by DI signal, which is more
complicated. The timing diagram is shown as below.
Diagram 1: Dual control mode of speed and position
In speed mode (S-P is ON), the speed command is selected via SPD0 and SPD1. CTRG
is not working at the moment. When switching to position mode (S-P is OFF), since
position command has not been issued (needs to wait the rising edge of CTRG), the
motor stops. The position command is determined by POS0~POS5 and triggered by
rising edge of CTRG. When S-P is ON, it goes back to speed mode again. Please refer
to the introduction of single mode for DI signal and the selected command of each mode.
6.5.2 Speed/Torque Dual Mode
S-T is the only mode. The speed command comes from the external analog voltage and
internal parameters (P1-09 ~P1-11), which is selected via SPD0~SPD1. Similarly, the
source of torque command could be external analog voltage and internal parameters
(P1-12~P1-14) and is selected via TCM0~TCM1. The switch of speed/torque mode is
controlled by S-T signal. The timing diagram is shown as below.
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Chapter 6 Control mode of operation
Diagram 2: Dual control mode of speed and torque
In torque mode (S-T is ON), the torque command is selected via TCM0 and TCM1. When
switching to speed mode (S-T is OFF), the torque command is selected via SPD0 and
SPD 1. The motor operates according to the speed command. When S-T is ON, it goes
back to the torque mode again. Please refer to the introduction of single mode for DI
signal and the selected command of each mode.
6.5.3 Torque/Position Dual Mode
There are PT-T and PR-T in speed/position dual mode. The command source of the
former one comes from external pulse while the latter one comes from internal
parameters (P6-00~P7-27). Torque command could be issued by external analog voltage
or internal parameters (P1-12~P1-14). The switch of torque/position mode is controlled
by T-P signal and the switch of PR-T mode is controlled by DI signal, which is more
complicated. The timing diagram is shown as below.
Diagram 3: Dual control mode of torque and position
In torque mode (T-P is ON), the torque command is selected via TCM0 and TCM1.
CTRG is not working at the moment. When switching to position mode (T-P is OFF),
since position command has not been issued (needs to wait the rising edge of CTRG),
the motor stops. The position command is determined by POS0~POS5 and triggered by
rising edge of CTRG. When T-P is ON, it goes back to torque mode again. Please refer
to the introduction of single mode for DI signal and the selected command of each mode.
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6.6 Others
6.6.1 The Use of Speed Limit
The maximum speed in each mode is limited by internal parameters (P1-55), not matter it
is in position, speed or torque mode.
The issuing method of speed limit command and speed command is the same. The
command source could be external analog voltage or internal parameter (P1-09 ~ P1-11).
Please refer to Section 6.3.1 for descriptions.
Speed limit can be used in torque mode (T) only. It is used for limiting the motor speed.
When the command in torque mode is issued by external analog voltage, DI signal is
enough and can be regarded as SPD0~SPD1 which is used to determine the speed limit
command (internal parameters). If the DI signal is not enough, speed limit command can
be issued by analog voltage. When the function of disable/enable limit function in P1-02
is set to 1, the speed limit function is enabled. See the timing diagram as below.
6.6.2 The Use of Torque Limit
The issuing method of torque limit command and torque command is the same. The
command source could be external analog voltage or internal parameter (P1-12 ~ P1-14).
Please refer to Chapter 6.4.1 for descriptions.
Torque limit can be used in position mode (PT, PR) or speed mode (S). It is used for
limiting the motor torque output. When the command in position mode is issued by
external analog voltage, DI signal is enough and can be regarded as TCM0~TCM1,
which is used to determine torque limit command (internal parameters). If the DI signal is
not enough, torque limit command can be issued by analog voltage. When the function of
disable/enable torque limit function in P1-02 is set to 1, the torque limit function is
enabled. See the timing diagram as below.
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Chapter 6 Control mode of operation
6.6.3 Analog Monitor
Users could observe the needed voltage signal via analog monitor. Two analog channels
are provided by the servo drive and locate in terminal 15 and 16 of CN1. The related
parameter settings are as the followings.
P0-03
MON
Address: 0006H
0007H
Related
Section:
Section 6.6.3
Analog Output Monitor
Parameter
Attribute:
Parameter for three axes
Operational
Interface:
Panel / Software
Communication
Default: 01
Control
Mode:
ALL
Unit: Range: 0x0000 ~ 0x3377
Data Size: 16bit
Format: HEX
Settings:
MON2
MON1
Axis MON2
Axis MON1
Not used
MON1,
MON2
Setting
Value
0
1
2
3
4
5
6
7
6-56
Description
Motor speed (+/-8 Volts/Max. speed)
Motor torque (+/-8 Volts/Max. torque)
Pulse command frequency (+8 Volts/4.5Mpps)
Speed command (+/-8 Volts/Max. speed command)
Torque command (+/-8 Volts/Max. torque
command)
VBUS voltage (+/-8 Volts/450V)
Reserved
Reserved
April, 2013
Chapter 6 Control Mode of Operation
ASDA-M
MON1 axis
selection
1
2
3
Description
MON1 is from X axis
MON1 is from Y axis
MON1 is from Z axis
MON2 axis
selection
1
2
3
NOTE
Description
MON2 is from X axis
MON2 is from Y axis
MON2 is from Z axis
Please refer to parameter P1-04, P1-05 for proportional setting
of analog output voltage.
For example:
P0-03 = 1101 (MON1 is the analog output of motor speed in X
axis; MON2 is the analog output of motor torque
in X axis.)
M
MON1 output voltage 8 (unit: Volts)
P
M
MON2 output voltage
P1-03
AOUT
8
. M
M
.
Polarity Setting of Encoder Pulse
Output
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
P
(unit: Volts)
Address: 0106H
0107H
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x13
Data Size: 16bit
Format: HEX
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Chapter 6 Control mode of operation
Settings:

P1-04
MON1
Polarity of Monitor Analog Output
0: MON1(+), MON2(+)
1: MON1(+), MON2(-)
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)
Polarity of encoder pulse output
0: Forward output
1: Reverse output
MON1 Analog Monitor Output
Proportion
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0108H
0109H
Related Section
Section 6.6.3
Communication
Default: 100
Control
Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: Please refer to parameter P0-03 for the setting of analog output
selection.
For example:
P0-03 = 0x1110 (Ch1 is the speed analog output of the first axis)
When the output voltage value of CH1 is V1, the motor speed will
be:
V1 X axis P1 04
Motor speed
Max. speed
100
8
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April, 2013
Chapter 6 Control Mode of Operation
P1-05
MON2
ASDA-M
MON2 Analog Monitor Output
Proportion
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0108H
0109H
Related Section:
Section 6.6.3
Communication
Default: 100
Control
Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Please refer to parameter P0-03 for the setting of analog output
Settings:
selection.
For example:
P0-03 = 0x 1101(Ch2 is the speed analog output of the first axis)
When the output voltage value of CH2 is V2, the motor speed will
be:
V2 X axis P1 05
Motor speed
Max. speed
100
8
P4-20
Offset Adjustment Value of Analog
Monitor Output (Ch1)
Parameter
Parameter for three axes
Attribute:
DOF1
Operational
Panel / Software
Interface:
Address: 0428H
0429H
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16bit
Format: DEC
Settings: Offset adjustment value (cannot reset)
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P4-21
Chapter 6 Control mode of operation
DOF2
Offset Adjustment Value of Analog
Monitor Output (Ch2)
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 042AH
042BH
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16bit
Format: DEC
Settings: Offset adjustment value (cannot reset)
For example, if users desire to observe the voltage signal in channel 1 and set this
channel for observing the pulse command frequency, when the pulse command
frequency 2.25M corresponds to 8V output voltage, users need to adjust the monitor
output proportion of P1-04 to 50 (= 2.25M/ Max. input frequency). Other related settings
include P0-03 (X= 3) and P1-03 (The polarity setting range of monitor analog output is
between 0 and 3, and it can set positive/negative polarity output). Generally speaking,
the output voltage of Ch1 is V1, the pulse command frequency is (Max. input frequency ×
V1/8) × P1-04/100.
Because of the offset value, the zero voltage level of analog monitor output does not
match to the zero point of the setting. This can be improved via the setting of offset
adjustment value of analog monitor output, DOF1 (4-20) and DOF2 (P4-21). The voltage
level of analog monitor output is ±8V, if the output voltage exceeds the range, it will be
limited within ±8V. The provided resolution is about 10bits, which equals to 13mV/LSB.
8V
DOF
-8V
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6.6.4 The Use of Mechanical Brake
When operating mechanical brake via servo drive, if the DO signal, BRKR is set to OFF, it
means the mechanical brake is not working and the motor will be locked. If BRKR is set
to ON, it means the mechanical brake is working and the motor can operate. The
operation of mechanical brake has two kinds. Users can set the relevant dealy via regiser
MBT1 (P1-42) and MBT2 (P1-43). It is usually applied in Z axis in order to reduce the
heat generated when servo motor puts up resistance and shorten its lifetime. In order to
avoid the error of mechanical brake, it must be worked when the servo drive is off. To
operate the mechanical brake, the brake has to be activated before the motor stops
running (Servo OFF). The brake has to be released after Servo ON. Otherwise, it would
become the loading of the motor and might damage the brake.
If it works during the process of acceleration or constant speed, the servo drive needs to
generate more current to resist the brakeforce of mechanical brake and it might cause
the alarm of overload warning.
Timing diagram of mechanical brake control:
The output timing of BRKR:
1. When Servo OFF, go through the time set by P1-43 and the motor speed is faster
than the setting in P1-38, DO.BRKR is OFF (mechanical brake is locked).
2. When Servo OFF, has not reached the time set by P1-43 but the motor speed is
slower than the setting in P1-38, DO.BRKR is OFF (mechanical brake is locked).
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The wiring diagram of using mechanical brake:
NOTE
1) Please refer to Chapter 3, Wiring.
2) The brake signal controls the solenoid valve, provides power to
the brake and enables the brake.
3) Please note that there is no polarity in coil brake.
4) Do not use brake power and control power (VDD) at the same
time.
Timing diagram of control power and main power:
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Chapter 7 Motion Control
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Chapter 7 Motion Control
7.1 Motion Control Functions of ASDA-M
1)
Single-axis motion controller of PR (Procedure) control
2)
Function of CAPTURE (data capture)/COMPARE (data compare)
3)
Function of E-Cam
7.2 Information of the Servo Drive
The information of this servo drive can be divided into three parts: System parameters,
Monitor variables and Data array.
Descriptions are as follows:
Functional
Description
Display Format
System Parameters
Monitor Variables
It is used to be the reference
mode, important data or
operation condition when the
servo drive is operating, e.g.
Control Mode, Servo Loop
Gain, etc.
The status of the servo drive or motor,
e.g. motor position, speed, electric
current, etc.
Panel displays PX-XX.
Set P0-02 to Monitor variables code
and enter into Monitor Mode. The
panel will display the value of the
variable.
Pressing the SET Key to
display parameters and start
setting.
Please refer to Chapter 4 for
Panel Display and Operation.
Access Method Readable and writable
(depends on parameters)
Data Size
16-bit or 32-bit (depends on
Or pressing the MODE Key on the
panel to switch to Monitor Mode.
Please refer to Chapter 4 for Panel
Display and Operation.
Read-only
32-bit integers only
parameters)
Communication Access via MODBUS /
CANopen / USB
Each parameter occupies two
MODBUS addresses
April, 2013


It only can be monitored via PC
software by connecting USB.
It does not directly support
MODBUS / CANopen access,
unless
mapping
is
for
7-1
ASDA-M
Chapter 7 Motion Control
corresponding the specified monitor
variables to system parameters.
Mapping
Support
Note
7-2
8 groups of parameter, P0-25 5 groups of parameter, P0-09 ~ P0-13
~ P0-32
(set by P0-17 ~ P0-21)
(set by P0-35 ~ P0-42)
In Monitor Mode, pressing UP/DOWN
Key on the panel to switch the
commonly used monitor variables
(code 0~26); however, it cannot
display all (about 150 in total)
April, 2013
Chapter 7 Motion Control
ASDA-M
7.2.1 Description of Monitor Variables
Description of Monitor Variables:
Item
Variable
Code
Format
Descriptions
Each monitor variable has a code. Set the code via P0-02 so that the
users can monitor the variable.
Every monitor variable is saved with the format of 32-bit (long integer) in
the servo drive.
Classification It is divided into basic variables and extension variables:
1. Basic variables: Use the Monitor Mode on the panel to find the
variable (variables in the cycle) by pressing UP/ DOWN Key
(P0-02=0~26)
2. Extension variables: Variables other than the basic ones
(P0-02=27~127)
Monitor
Method
Two methods, Panel display and Mapping::
1.
2.
Panel display: View through the panel directly
Mapping: Correspond the variables to the system parameters and
view the variables via parameters.
Panel
Display
1.
2.
Mapping
1. Mapping parameters that support monitor variable are P0-09 ~
P0-13. Please refer to Chapter 8, Parameters for operation.
2. Monitor variables can be read via communication by mapping
parameters.
3. The value of mapping parameters (P0-09~P0-13) is the content of
basic variables (17h, 18h, 19h, 1Ah). The setting value which is set
by P0-17 should be monitored via p0-09 (refer to p0-02). When
accessing data via communication, the value of P0-17 can be read
or monitored via panel (Set P0-02 to 23). When the panel shows
Switch to the desired monitoring axis by pressing the SEL Key.
Switch to the Monitor Mode by pressing the MODE Key and select
the desired monitoring variables via UP/DOWN Key.
3. Directly enter the desired monitoring code via P0-02 for viewing.
Pressing the SHF Key on the panel can switch the display of high / low
word;
Pressing the SET Key on the panel can switch the display of decimal /
hexadecimal format.
「VAR-1」, it means it is the value of P0-09.
April, 2013
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ASDA-M
Chapter 7 Motion Control
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 order of code are as the following.
Code
Name of Variables
/Attribute
000
(00h)
Feedback position The current feedback position of the motor encoder. The
(PUU) B
unit is PUU (user unit).
Position command The current coordinate of position command. The unit is
(PUU) B
PUU (user unit).
001
(01h)
Descriptions
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
003
(03h)
Feedback position Current feedback position of the motor encoder. The unit
(pulse) B
is pulse (encoder unit).
Position command The current coordinate of the position command. The unit
(pulse) B
is pulse (encoder unit).
004
(04h)
The deviation between the position command and
feedback position. The unit is PUU (user unit).
The command that had gone through E-gear.
005
(05h)
Position deviation
(pulse) B
The deviation between the position command and
006
(06h)
Pulse command
frequency B
Frequency of pulse command received by the servo drive.
feedback position. The unit is pulse (encoder unit).
The unit is Kpps.
It is suitable in PT/PR mode.
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April, 2013
Chapter 7 Motion Control
ASDA-M
Code
Name of Variables
/Attribute
007
(07h)
Speed feedback
B D1 Dec
Current speed of the motor. The unit is 0.1 r/min.
008
(08h)
Speed command
(analog)
B D2 Dec
Speed command
(processed) B
The speed command is issued by analog. The unit is 0.01
Torque command
(analog)
B D2 Dec
Torque command
(processed) B
The torque command is issued by analog. The unit is 0.01
Volt.
009
(09h)
010
(0Ah)
011
(0Bh)
Descriptions
The value is more stable since it has been though
low-pass filter.
Volt.
The processed speed command. The unit is 1 r/min.
The source might be analog, register or from position
loop.
The processed torque command. The unit is Percentage
(%).
The source might be analog, register or from speed loop.
012
(0Ch)
Average load B
013
(0Dh)
Peak load B
014
(0Eh)
015
(0Fh)
DC Bus voltage B
Capacitor voltage after rectification. The unit is Volt.
Inertia ratio
B D1 Dec
Ratio of load inertia and motor inertia. The unit is 0.1
016
(10h)
IGBT temperature
B
The temperature of IGBT. The unit is °C.
017
(11h)
Resonance
frequency
B Dec
The average load output by the servo drive. The unit is
Percentage (%).
The maximum load output by the servo drive. The unit is
Percentage (%).
times.
Resonance frequency of the system, including 2 groups of
frequency, F1 and F2.
When monitoring via panel, pressing SHF can switch the
display of both:
F2 shows no decimal point while F1 shows one.
When reading through communication (mapping
parameter):
Low-16 Bit (Low WORD) returns frequency F2.
High-16 Bit (High WORD) returns frequency F1.
018
(12h)
Z phase offset
B Dec
The offset between the motor position and Z phase. The
range is from -5000 to +5000.
If the position is the same as Z phase, its value is 0. The
April, 2013
7-5
ASDA-M
Code
Chapter 7 Motion Control
Name of Variables
/Attribute
Descriptions
bigger the value is, the more the offset will be.
019
(13h)
Mapping
parameter #1 B
Return the value of parameter P0-25 which is mapped by
020
(14h)
Mapping
parameter #2 B
Return the value of parameter P0-26 which is mapped by
021
(15h)
Mapping
parameter #3 B
Return the value of parameter P0-27 which is mapped by
022
(16h)
Mapping
parameter #4 B
Return the value of parameter P0-28 which is mapped by
023
(17h)
Mapping monitor
variable #1 B
Return the value of parameter P0-09 which is the monitor
variables mapped by P0-17
024
(18h)
Mapping monitor
variable #2 B
Return the value of parameter P0-20 which is the monitor
025
(19h)
Mapping monitor
variable#3 B
Return the value of parameter P0-11 which is the monitor
variables mapped by P0-19
026
(1Ah)
Mapping monitor
variable #4 B
Return the value of parameter P0-12 which is the monitor
variables mapped by P0-20
039
(27h)
DI status
(processed) Hex
The processed DI status of the servo drive. Each bit
corresponds to one DI channel.
P0-35
P0-36
P0-37
P0-38
variables mapped by P0-18
The source includes hardware channel / software P4-07
which is determined by P3-06.
040
(28h)
DO status
(hardware) Hex
The real status of Digital Output hardware. Each bit
corresponds to one DI channel.
041
(29h)
Drive status
Return the value of P0-46. Please refer to the description
of the parameter.
043
(2Bh)
CAP,
capturing
048
(30h)
049
(31h)
050
(32h)
Auxiliary encoder
CNT
Pulse command
CNT
Speed command
(processed)
D1 Dec
Speed feedback
(immediate)
D1 Dec
Speed feedback
051
(33h)
052
7-6
data The Data captured by CAP hardware from the latest time
Note: CAP could continuously capture many points.
The value of pulse counter from auxiliary encoder (CN5)
The value of pulse counter from pulse command (CN1)
The processed speed command. The unit is 0.1 r/min.
The source might be analog, register or position loop.
Current actual speed of the motor. The unit is 0.1 r/min.
Current actual speed of the motor. The unit is 0.1 r/min
April, 2013
Chapter 7 Motion Control
Code
(34h)
053
(35h)
054
(36h)
055
(37h)
056
(38h)
059
(3Bh)
060
(3Ch)
061
(3Dh)
ASDA-M
Name of Variables
Descriptions
/Attribute
(filter)
(has been through the low-pass filter).
D1 Dec
Torque command The processed torque command. The unit is 0.1 Percent
(processed)
(%).
D1 Dec
The source might be analog, register or speed loop.
Torque feedback
Current actual torque of the motor. The unit is 0.1 Percent
D1 Dec
(%).
Electric current
feedback
D2 Dec
DC Bus voltage
D1 Dec
Pulse from ECAM
master axis
(accumulation)
Current actual electric current of the motor. The unit is
0.01 ampere (Amp).
Pulse from ECAM
master axis
(increment)
Pulse from ECAM
mast axis
(lead pulse)
The incremental pulse number from master axis. The unit
is pulse number per msec.
Capacitor voltage after rectification. The unit is 0.1 volt.
The accumulative pulse number of E-Cam master axis. It
is the same as P5-86.
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaging: lead pulse = P5-87 or P5-92.
When the value is 0, it will be engaged.
When it is engaging: lead pulse = P5-89. When the value
is 0, it will be disengaged.
062
(3Eh)
The position
ECAM axis
of The position of ECAM axis.
Unit: The pulse is from the master axis. When the
incremental pulse from master axis is P, the axis
rotates M cycle (P5-83=M, P5-84=P).
063
(3Fh)
064
(40h)
065
(41h)
067
(43h)
April, 2013
Position of ECAM The position of E-Cam slave axis.
slave axis
Unit: PUU
Terminal register
In PR mode, the termination of position command
of PR command
(Cmd_E)
Output register of In PR mode, the accumulative output of position
PR command
command
PR target speed
The target speed of path command in PR mode. The unit
is PPS (Pulse Per Second)
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ASDA-M
Chapter 7 Motion Control
Code
Name of Variables
/Attribute
068
(44h)
S-curve filter
(input)
Descriptions
The input command of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, ECAM and speed command.
069
(45h)
S-curve filter
(output)
The output command of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, ECAM and speed command.
076
(4Ch)
Speed command In PR mode, the programmed trapezoid speed curve is
of PR contour
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
081
(51h)
084
(54h)
096
(60h)
Synchronous
capture axis
Incremental input
pulse
Synchronous
capture axis
Deviation
pulse
number
Firmware version
Dec
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
The deviation between the real output pulse and the target
pulse when synchronous capture axis is enabled. If it
reaches the synchronization, the value will close to 0.
It includes two versions, DSP and CPLD.
When monitoring via panel, pressing the SHF Key can
switch the display of both:
DSP shows no decimal point while CPLD shows one.
When reading through communication (parameter
mapping):
Low-16 Bit (Low WORD) returns DSP version number.
High-16 Bit (High WORD) returns CPLD version number.
098
(62h)
109
(6Dh)
111
(6Fh)
112
(70h)
113
(71h)
PLC scan time
The update time of DI/DO. The unit is 0.5 msec.
The amount
data array
of Returns the amount of data array. The unit is DWORD (32
Bits)
Error code of the Error code of the servo drive: only for the control loop, not
servo drive
including the motion controller.
CANopen SYNC
The time the servo drive receives SYNC signal
TS (hasn’t been (TimeStamp)
through the filter)
The unit is usec.
CANopen SYNC
TS (has been
through the filter)
The time the servo drive receives SYNC signal and has
been through the filter
The unit is usec.
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April, 2013
Chapter 7 Motion Control
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Code
Name of Variables
/Attribute
114
(72h)
CANopen
timing
synchronzation
To synchronize the device timing with the controller during
the operation.
The returned
value when
monitoring via
panel
The returned value when monitoring via panel
123
(7Bh)
Descriptions
The unit is usec.
7.2.2 Description of Data Array
Many functions of motion control are added in ADSA-M, e.g. CAPTURE, COMPARE
and E-Cam, and those are the data that needs to be saved in large amount memory
space, therefore, the servo drive reserves a continuous internal space to satisfy the
need. The main feature of the data array is as the followings:
Feature Introduction of Data Array
Usage
Size of Data Array
 Save the captured data of CAPTURE
 Save the compared value of COMPARE
 Save the contour table of E-Cam
Note: The system does not partition off the data array into the
individual space of CAP, CMP and ECAM. The user could
program it according to the demand. Therefore, the space
might be overlapped. Please pay close attention to it when
using.



Data Retained



Accessing Window
April, 2013

32-bit integer x 1500 (refer to P5-10)
Each data has its corresponding address. Specify the
address is a must when reading or writing the data.
The 1500 data is from 0 to 1499.
Manually set up the saving (P2-08 = 30, 35) is a must and
the data should be saved in EEPROM of the servo drive.
Save the data when it is Servo Off.
The data will be loaded into data array automatically when it
is Servo On.
Should be access via parameter P5-10 ~ P5-13.
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ASDA-M
Chapter 7 Motion Control
The content of data array cannot be read or wrote directly, reading or writing the data
must via parameter P5-10 ~ P5-13. The description of the parameters is as the
followings:
Description of Related Parameter about Data Array
Parameter
P5-10
P5-11
P5-12
P5-13
Name
Size of data
array
Reading
/
writing
address
Reading /
writing
window #1
Reading /
writing
window #2
Description
Return the size of data array (read-only)
Set the desired address of reading and writing
Read via panel: After reading the content of P5-11, the
value of P5-11 will not change.
Write via panel: After writing the content of P5-11, the
value of P5-11 will increase 1
automatically.
-----------------------------------------------------------------------------Read via communication: After reading the content of
P5-11, the value of P5-11 will
increase 1 automatically.
Write via communication: After writing the content of
P5-11, the value of P5-11 will
increase 1 automatically.
Read via panel: After reading the content of P5-11, the
value of P5-11 will increase 1
automatically.
Write via panel: It cannot be written via panel.
-----------------------------------------------------------------------------Read via communication: After reading the content of
P5-11, the value of P5-11 will
increase 1 automatically.
Write via communication: After writing the content of
P5-11, the value of P5-11 will
increase 1 automatically.
Set the desired reading / writing address via P5-11 first. Then, read / write P5-12 or
P5-13 in order to access the content of data array. If users desire to continuously write 3
data, 100, 200, 300 into the address of data array, 11, 12 and 13, the operation step is
as follows:
A. Write via panel: Use P5-12 (reading / writing window #1), since P5-13 does not
support writing via panel:
1. Set address: Set P5-11 to 11 (The first written address)
2. Write into data: Set P5-12 to 100 (After writing 100 into address 11 in data array, the
value of P5-11 will increase 1 automatically.)
Set P5-12 to 200 (After writing 200 into address 12 in data array, the
value of P5-11 will increase 1 automatically.)
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Chapter 7 Motion Control
ASDA-M
Set P5-12 to 300 (After writing 300 into address 13 in data array, the
value of P5-11 will increase 1 automatically.)
The last step is to read address 11, 12 and 13 and check if the
content is the value that just wrote into.
B. Read via panel: Use P5-13 (reading / writing window #2) so as to continuously read
the content.
1. Set address: Set P5-11 to 11 (The first read address)
2. Read the data: When the panel displays P5-13,
Press the SET Key for the first time and show the content of address
11. Then, press the MODE Key to exit.
Press the SET Key for the second time and show the content of
address 12. Then, press the MODE Key to exit.
Press the SET Key for the second time and show the content of
address 13. Then, press the MODE Key to exit.
Note: Every time when reading the data via P5-13, the value of P5-11
will increase 1 automatically. Thus the user could continuously
read the data.
If reading the data via P5-12, then the value of P5-11 will not
change. The user is unable to read the next data automatically.
If users desire to read / write the data array via communication, the operation procedure
is similar to panel. Moreover, the function of P5-12 and P5-13 is the same. If users
desire to write 6 data, 100, 200, 300, 400, 500 and 600 into the address of data array
via Modbus communication command 0x10 (continuous writing), the content of the
issued command is as the followings:
Content of Communication Command: Write into Data Array
No. Command
Start
Add.
Written
Amount
1
0x10
P5-1
1
6
(Word)
2
0x10
P5-1
1
6
(Word)
3
0x10
P5-1
1
6
(Word)
April, 2013
P5-11
Low
High
Word
Word
11
0
P5-12
Low
High
Word
Word
100
0
The first address
The first data
13
0
The third address
15
0
The fifth address
300
0
The third data
500
0
The fifth data
P5-13
Low
High
Word
Word
200
0
The second
data
400
0
The fourth data
600
0
The sixth data
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ASDA-M
Chapter 7 Motion Control
NOTE
Each axis has its own station number. If the controller desires to
communicate with different axis, it should switch the station number which
is set by P3-00 through communication.
If users desire to read the value of data array in order to check the previous written
content, users can write the desired reading start address into P5-11 via MODBUS
communication command 0x06 (write 1 data). The issuing communication command is
as the following:
Content of Communication Command: Set the
Reading Address of Data Array
No. Command
Start Add.
Written Data
4
0x06
P5-11
11
Then, read the content of specified address by communication command 0x03
(continuous reading). The issuing communication command is as follows:
Content of Communication
Command: Read Data Array
No
.
Command
Start
Add.
Read
Amount
5
0x03
P5-1
1
6
(Word)
6
0x03
P5-1
1
6
(Word)
0x03
P5-1
1
6
(Word)
7
Return Data
P5-11
Low
High
Word
Word
11
0
Read address
13
0
Read address
15
0
Read address
P5-12
Low
High
Word
Word
100
0
Data of address
11
300
0
Data of address
13
500
0
Data of address
15
P5-13
Low
High
Word
Word
200
0
Data of
address 12
400
0
Data of
address 14
600
0
Data of
address 16
The return value on the right-hand side of the above table represents the read
parameter, P5-11, P5-12 and P5-13, which is also the content of address 11~16 in data
array.
NOTE
7-12
Each axis has its own station number. If the controller desires to
communicate with different axis, it should switch the station number which is
set by P3-00 through communication.
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Chapter 7 Motion Control
ASDA-M
7.3 Description of Motion Axes
The motion axis is an internal counter of the servo drive. It is used for counting the absolute
position of the axis (32-bit integer). The following motion axes are included in this servo
drive:
Name of the Axis
1. Main Encoder
(P5-16)
2. Auxiliary
Encoder
(P5-17)
Description
Access
R
It represents the absolute feedback position of the
motor. The unit is PUU (user unit).
R/W
It is counted by the pulse signal from CN5 and
usually connects to the second encoder or linear
scale. Its pulse is A/B TYPE.
Attribute
Physical
Axis
Physical
Axis
3. Pulse
Command
(P5-18)
It is counted by the pulse signal from CN1 and
usually connects to the pulse command of the
controller. The pulse type could be set by P1-00.
R/W
Physical
Axis
4. Capture Axis
(P5-37)
It is the axis which has CAP function. Its
R/W
Functional
Axis
5. Compare Axis
(P5-57)
It is the axis which has CMP function. Its
command source could be the above mentioned
axis 1~4, which can write the new value into it and
has an offset from the physical axis.
R/W
Functional
Axis
6. Master Axis
(P5-86)
It is the master axis of E-Cam. Its command
source could be the above mentioned axis 2, 3, 4
and 7, which can write the new value into it and
has an offset from the physical axis.
R/W
Functional
Axis
7. Command
Axis in PR
Mode
8. Internal Time
Axis
The command position is from the path generator
in PR mode.
R
Virtual
Axis
It is the internal accumulative time counter of the
servo drive. The value increases 1 every 1ms.
R
Virtual
Axis
9. Synchronous
Capture Axis
(P5-77)
It is similar to Capture Axis (P5-37); however, it
automatically adjusts the incremental pulse
between two CAPs to the setting value of P5-78.
R/W
Virtual
Axis
command source could be the above mentioned
axis 1~3, which can write the new value into it and
has an offset from the physical axis. Moreover,
after capturing the first point, the axis position can
be redefined.
Note: Physical Axis: The position value is counted from the actual hardware signal.
Functional Axis: It is the virtual axis which has been processed by the physical. The
value might not be the same as the source of physical axis. However,
the incremental value is the same as the one in physical axis.
April, 2013
7-13
ASDA-M
Chapter 7 Motion Control
Name of the Axis
Description
Access Attribute
Virtual Axis: The axis position comes from the internal firmware of the servo drive. The
command axis of PR mode is not instantaneous; therefore, it cannot be
the command source axis of CAP and CMP function. However, it could
be the command source of master axis of E-Cam.
7.4 Description of PR Mode
PR Procedure: It is the smallest unit of command. Command could be one or many
procedures to constitute.
Procedure is triggered by DI.CTRG. POS0~POS5 is used to specify the triggered
procedure number.
Procedure is triggered by communication: The triggered procedure number is set by P5-07.
The triggered procedure is completed and will trigger the next one automatically. The
procedure number can be set and the delay time between procedures as well.
The E-Cam function is provided in PR mode. It can be enabled via PR procedure. After it is
disabled, it can return to the specified PR procedure.
7.5 The Position Unit of PR Mode
The position data of PR mode is represented by PUU (Pulse of User Unit). It is also the
proportion between the controller position unit and the internal position unit of the servo
drive, which is the so-called electronic gear ratio of the servo drive.
1.
The position unit of the servo drive (pulse): Encoder unit.
It has 1280000 pulses every revolution (pulse/rev) and is unchangeable.
2.
User unit (PUU): The unit of the controller.
If it has P pulse every revolution (PUU/rev), then the gear ratio should be set as:
GEAR_NUM (P1-44) / GEAR_DEN(P1-45) = 1280000 / P
7.6Description of Register in PR Mode
1.
Position register of PR mode: All is represented in PUU (Pulse of User Unit).
2.
Command register (monitor variable 064): Command termination register Cmd_E. It
represents the absolute terminal coordinate of position command.
3.
Command output register (monitor variable001): Cmd_O; it represents the absolute
coordinate from the current output command.
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April, 2013
Chapter 7 Motion Control
ASDA-M
4.
Feedback register (monitor variable000): Fb_PUU; it shows the absolute feedback
position of the motor.
5.
Deviation register (monitor variable002): Err_PUU; it is the deviation between the
register from command output and feedback register.
6.
In PR mode, either in operation or stop status, it satisfies the condition of Err_PUU =
Cmd_O - Fb_PUU.
Influence brought by position command:
When issuing the
command =>
=>When command
Absolute
Positioning
Command
Cmd_E = command data
(absolute)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E
does
not
change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Incremental
Positioning
Command
Cmd_E+= command data
(incremental)
Cmd_O does not change.
DO.CMD_OK is OFF
Cmd_E does not
change.
Cmd_O continuously
output
...
Cmd_E
does
not
change.
Cmd_O = Cmd_E
DO.CMD_OK is ON
Issue the
command of
Cmd_E does not change.
Cmd_O continuously
output
DO.CMD_OK is
unchangeable
Cmd_E does not
change.
Cmd_O stops
according to the
deceleration curve
Cmd_E
does
not
change.
Cmd_O = position after
stop
DO.CMD_OK is ON
Homing
Command
Cmd_E does not change.
Cmd_O does not change.
DO.CMD_OK is OFF
DO.HOME is OFF
Cmd_E continuously
output
Cmd_O continuously
output
...
...
Cmd_E = the absolute
position of Z
Cmd_O = position after
stop
DO.CMD_OK is ON
DO.HOME is ON
Speed
Command
Cmd_E continuously output.
Cmd_O continuously output. When the speed command is completed, it
means the speed reaches the setting value and does not stop.
DO.CMD_OK is OFF
Type of
Command
DI:STP to
stop the
command
anytime
is executing=>
=> Command is
completed
Enter PR (Servo Off->On or switch the mode Cmd_O = Cmd_E = current feedback
and enter into PR mode)
position
Note: The incremental positioning command is accumulated by command termination
Cmd_E. It is neither related to the current position of the motor nor the command
April, 2013
7-15
ASDA-M
Type of
Command
Chapter 7 Motion Control
When issuing the
command =>
=>When command
is executing=>
=> Command is
completed
time.
7.7 Description of Homing in PR Mode
The aim of homing is to connect the Z pulse position of the motor encoder to the internal
coordinate of the servo drive. The coordinate value of Z pulse can be set by P6-01. After
homing, the stop point will not locate at Z pulse position. It is because the motor has to
decelerate to stop, the deceleration curve will slightly exceed Z pulse. However, the
coordination of Z has been correctly set and will not influence the accuracy of positioning.
For example, the coordinate value corresponded by Z pulse is 100, Cmd_O = 300 after
homing, which means the deceleration distance is 300-100=200 (PUU). Since Cmd_E =
100 (The absolute position of Z), if desiring to return to Z pulse position, issue the absolute
command 100 or incremental command 0 will do. After homing, it can execute PR path
automatically so as to move the desired distance. When it is executing homing, the
software limit cannot work.
7.8 DI/DO Provided by PR Mode and Diagrams
DI signal:
CTRG, SHOM, STP, POS0~5, ORG, PL, NL, EV1~4
DO signal:
CMD OK, MC_OK, TPOS, ALM, CAP_OK, CAM_AREA
System frame:
DI.CTRG
DO.CMD_OK
DLY
Command is issuing
Servo positioning is
DO.TPOS
DO.MC_OK
completed
PR procedure is
completed
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April, 2013
Chapter 7 Motion Control
ASDA-M
Description of command triggered method in PR mode:
99 command procedures are in each axis of PR mode. Procedure #0 is homing and the
others are the procedures that users can self-define. The command triggered method is
concluded as the followings:
Standard
trigger
Command Source
DI.CTRG + POS0 ~ 5
Functional DI.STP,SHM
trigger
Event
trigger
Software
trigger
DI.EV1~4
Description
Use DI.POS0~5 to trigger the desired procedure
number. Then, use the rising edge of DI.CTRG to
trigger PR command.
Application: PC or PLC that issues command via DI
Note: It only can trigger the first 64 sets of command
procedure.
When DI.STP is from OFF  ON, the command
stops in half way.
When DI.SHM is from OFF  ON, it starts homing.
The change status of DI.EV1~4 can be the triggered
event.
Set the triggered procedure number from OFF  ON
by parameter P5-98.
Set the triggered procedure number from ON  OFF
by parameter P5-99.
Application: connect to the sensor and trigger the
preset procedure.
P5-07
Directly write the procedure number into P5-07 and
trigger command.
Both panel and communication (RS-232/485/
CANopen) can do.
Application: PC or PLC that issues command via
communication.
Other
April, 2013
CAP trigger
E-CAM disengage
trigger
After the capture is completed, procedure #50 can be
triggered and activated by the setting value Bit3 of
P5-39 X.
When E-cam is disengaged and returns to PR mode,
the procedure specified by P5-88 BA setting value
can be triggered.
7-17
ASDA-M
7.9
Chapter 7 Motion Control
Parameter Settings in PR Mode
1) Target speed: P5-60 ~P5-75, 16 PR in total
15 ~ 0 BIT
W0
TARGET_SPEED: 0.1 ~ 6000.0 (r/min)
2) Acceleration / Deceleration time: P5-20 ~ P5-35, 16 PR in total
15 ~ 0 BIT
W0
T_ACC / T_DEC : 1 ~ 65500 (msec)
3) Pause time: P5-40 ~ P5-55, 16 PR in total
15 ~ 0 BIT
W0
IDLE: 0 ~ 32767 (msec)
4) PR parameter: P5-00 ~ P5-09, P6-00 ~ P6-01, 12 DWORD in total.
32 BIT
P5-00
P5-01
P5-02
P5-03
P5-04
P5-05
P5-06
P5-07
P5-08
P5-09
P6-00
P6-01
Note: Path (procedure)
Reserved
Reserved (It is for testing only, do not use)
Reserved (It is for testing only, do not use)
Deceleration time of auto protection
Homing mode
1st Speed setting of high speed homing
2nd Speed setting of high speed homing
PR command register
Forward software limit
Reverse software limit
Homing setting
Origin definition
5) PR definition: P6-02 ~ P7-99, (64 BIT), 99 sets of PR in total
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
…
…
…
…
…
…
…
TYPE
DW1
DATA (32 bit)
Each PR has two parameters, the PR function is determined by TYPE. DATA represents
position or speed data while the others are the additional information.
6) SPEED, Constant speed control: TYPE = 1
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
DLY
DEC
ACC
OPT
1
DW1
DATA (32 bit): Target Speed ; Unit is defined by OPT.UNIT
When this command is executing, the motor accelerates or decelerates from the current
speed until it reaches the target speed. After the command is completed, the motor will
remain at the same speed and never stop.
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April, 2013
Chapter 7 Motion Control
ASDA-M
OPT:
OPT selection
7
6
5
4 BIT
-
UNIT
AUTO
INS
※DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR.
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
UNIT: 0 unit is 0.1r/min; 1 unit is PPS (Pulse Per Second)
ACC/DEC: 0 ~ F, acceleration / deceleration number (4 BIT)
ACC / DEC (4)
Index P5-20 ~ P5-35
SPD: 0 ~ F, target speed number (4 BIT)
SPD (4)
Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
DLY (4)
Index P5-40 ~ P5-55
7) PPSITION, Positioning control: (TYPE = 2, PR is completed and stopped), (TYPE = 3,
the next PR is executed automatically after the PR is completed)
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
DLY
SPD
DEC
ACC
OPT
2 or 3
DW1
DATA (32 bit): target position, Unit: Pulse of User Unit
OPT:
OPT Selection
7
6
CMD
0
0
1
0
0
1
1
1
5
OVLP
4 BIT
IINS
Description
Absolute positioning command: Cmd_E=DATA
(Note 1)
Incremental positioning command: Cmd_E= Cmd_E
+DATA (Note 2)
-
-
Relative positioning command: Cmd_E= current
feedback +DATA (Note 3)
CAP positioning command: Cmd_E=CAP position
+DATA (Note 4)
※DI.STP stop and software limit are acceptable.
INS: When this PR is executing, it will interrupt the previous PR
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
CMD: The calculation of the position terminal command (Cmd_E) is as the followings:
Note 1: Position terminal command is determined by DATA.
Note 2: Position terminal command is determined by the previous terminal command
(Monitor variable 40h) plus DATA.
April, 2013
7-19
ASDA-M
Chapter 7 Motion Control
Note 3: Position terminal command is determined by the current feedback position
(Monitor variable 00h) plus DATA.
Note 4: Position terminal command is determined by the position latched by CAP (Monitor
variable 2Bh) plus DATA.
8) Multi-axis linear interpolation: TYPE = 4, execute the function of multi-axis linear
interpolation.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
SEL
OVLP
DLY
VSPD
VDEC
VACC
OPT
4
DW1
DATA(32bit): Target position, Unit: Pulse of User Unit
OPT:
OPT Selection
7
6
CMD
0
0
1
0
5
OVLP
-
4 BIT
AUTO
-
Description
Absolute positioning command: Cmd_E=DATA
(Note 5)
Incremental positioning command: Cmd_E= Cmd_E
+DATA (Note 6)
0
1
Relative positioning command: Cmd_E= current
feedback +DATA (Note 7)
-
-
Reserved
※DI.STP stop and software limit are acceptable.
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
AUTO: Position reached and the next PR is loaded automatically.
CMD: The calculation of the position command termination (Cmd_E) is as follows:
Note 5: Position terminal command is determined by DATA.
Note 6: Position terminal command is determined by the previous terminal command
(Monitor variable 40h) plus DATA.
Note 7: Position terminal command is determined by the current feedback position
(Monitor variable 00h) plus DATA.
VACC/VDEC: 0 ~ F, the number of vector acceleration/deceleration (4 BIT)
VACC / VDEC (4)
Index P5-20 ~ P5-35
VSPD: 0 ~ F, the number of target vector speed (4 BIT)
VSPD (4)
Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
DLY (4)
Index P5-40 ~ P5-55
OVLP: 0 ~ F, overlap percentage selection (4 BIT) and the overlap percentage selection of
the next PR
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April, 2013
Chapter 7 Motion Control
ASDA-M
Grade
7
6
5
4
3
2
1
0
Percentage
45%
40%
35%
30%
25%
20%
10%
0%
Grade
F
E
D
C
B
A
9
8
Percentage
100%
90%
80%
75%
70%
65%
55%
50%
SEL: 0~3, axis selection
SELECT
Code
3
2
Axis
selection
ZX
ZY
1
0
YX
ZYX
0: Multi-axis linear interpolation
1: XY two-axis linear interpolation
2: YZ two-axis linear interpolation
3: XZ two-axis linear interpolation
Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA(32 bit)
Command source: P6-02~P7-99 of the second axis, parameter DW1 (DATA-32BIT), 99 PR
in total.
31 ~ 0 BIT
DW1
DATA(32 bit)
Command source: P6-02~P7-99 of the third axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA(32 bit)
9) FEED RATE setting: TYPE = 5, Feed Rate setting during the process of modifying the
motion.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
DLY
VDEC
VACC
OPT
5
DW1
DATA(32BIT): FEED RATE, Unit: PPS (Pulse Per Second)
When executing this command, the Feed Rate of motion vector will be dynamically
changed. If the motion vector is processing, the updated vector speed and acceleration
/deceleration time will be effective immediately.
April, 2013
7-21
ASDA-M
Chapter 7 Motion Control
OPT:
OPT selection
7
6
5
4 BIT
-
-
AUTO
-
AUTO: When the speed reaches the constant speed area, the next PR will be loaded
automatically.
VACC/VDEC: 0 ~ F, the number of vector acceleration/deceleration (4 BIT)
VACC / VDEC (4)
Index P5-20 ~ P5-35
VSPD: 0 ~ F, the number of target vector speed (4 BIT)
VSPD (4)
Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
DLY (4)
Index P5-40 ~ P5-55
10) Special code: TYPE=7, jump to the specified PR
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16
15 ~ 12
11 ~ 8
DW0
DLY
FUNC_CODE
DW1
PATH_NO (0~63)
7~4
OPT
3 ~ 0 BIT
7
OPT:
OPT selection
7
6
5
4 BIT
-
-
-
INS
PATH_NO: The jump target procedure number
FUNC_CODE: Reserved
DLY: The delay time after jump
11) Special code: TYPE = 8, write the specified parameter
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
DW0
DLY
P_Grp
P_Idx
DW1
Para_Data
P_Grp, P_Idx: groups and number of the specified parameter
DLY: The delay time after write
7~4
OPT
3 ~ 0 BIT
8
OPT:
OPT Selection
7
6
5
4 BIT
-
-
AUTO
INS
Para_Data: the written data
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April, 2013
Chapter 7 Motion Control
ASDA-M
Note: 1. Even when the written parameter is retained, the new value will not be written
into EEPROM. Too frequent written will not shorten the lifetim of EEPROM.
Note: The aim of writing parameters via PR procedure is for turning ON/OFF or
adjusting some functions. (e.g. according to different positioning command
to adjust P2-00, Position Loop Gain.) This procedure will continuously
repeat during the operation. If the data is all written into EEPROM, it will
shorten the lifetime of EEPROM. In addition, if P2-30 is set to 5, the
modified parameters (either from panel or communication) will not be
saved and is inconvenient to use. Thus, this new function is added.
2. If writing parameters fails, alarm AL213~219 will occur (Refer to Chapter 11 of the
manual) and the next PR which is enabled by AUTO function will not be executed.
12) Multi-axis helical interpolation: TYPE = E, execute the function of multi-axis helical
interpolation.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
SEL
OVLP
DLY
VSPD
VDEC
VACC
OPT
E
DW1
DATA(32 bit): determined by different axis
OPT:
OPT Selection
7
6
CMD
5
4 BIT
OVLP
AUTO
Description
Angle command: starting angle and moving
angle (Note 8)
Reserved
0
0
1
0
0
1
Reserved
-
-
Reserved
-
-
※DI.STP stop and software limit are acceptable.
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
AUTO: Position reached and the next PR is loaded automatically.
CMD: The calculation of the position command termination (Cmd_E) is as follows:
Note 8: angle command – need to enter the starting angle and moving angle
VACC/VDEC: 0 ~ F, the number of vector acceleration/deceleration (4 BIT)
VACC / VDEC (4)
Index P5-20 ~ P5-35
VSPD: 0 ~ F, the number of target vector speed (4 BIT)
VSPD (4)
Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
April, 2013
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ASDA-M
Chapter 7 Motion Control
DLY (4)
Index P5-40 ~ P5-55
OVLP: 0 ~ F, overlap percentage selection (4 BIT) and the overlap percentage selection of
the next PR
Grade
7
6
5
4
3
2
1
0
Percentage
45%
40%
35%
30%
25%
20%
10%
0%
Grade
F
E
D
C
B
A
9
8
Percentage
100%
90%
80%
75%
70%
65%
55%
50%
SEL: 0~2, axis selection
SELECT
Code
2
1
Axis
selection
ZX
ZY
0
YX
0: XY two-axis circular interpolation, Z axis is the height of helix.
1: YZ two-axis circular interpolation, X axis is the height of helix.
2: XZ two-axis circular interpolation, Y axis is the height of helix.
Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA (32 bit)
The source of X command is the radius of arc interpolation. Unit: User unit (Pulse of User
Unit)
Command source: P6-02~P7-99 of the second axis, parameter DW1 (DATA-32BIT), 99 PR
in total.
31 ~ 16 BIT
15 ~ 0 BIT
DW1
DATA2 (16 bit )
DATA1 (16 bit )
The source of Y command is the starting angle of arc and moving angle of arc. Unit: 0.5
degrees. (Note 9)
DATA1 is the setting of arc starting angle. DATA2 is the setting of arc moving angle.
Note 9: The unit of angle is 0.5 degrees, which means the input value is two times of the
setting value. For example, if it is set to 90 degrees, the input value will be 180.
Command source: P6-02~P7-99 of the third axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA (32 bit )
The source of X command is the setting of the height of helix. Unit: user unit (Pulse of User
Unit)
13) Two-axis circular interpolation: TYPE = F, execute the function of two-axis circular
interpolation
7-24
April, 2013
Chapter 7 Motion Control
31 ~ 28
SEL
DW0
DW1
ASDA-M
27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7~4
OVLP
DLY
VSPD
VDEC
VACC
OPT
DATA (32 bit ): the setting is determined by different axis
3 ~ 0 BIT
F
OPT:
OPT Selection
7
6
CMD
5
4 BIT
OVLP
AUTO
Description
Angle command: starting angle and moving
angle (Note 10)
Reserved
0
0
1
0
0
1
Reserved
-
-
Reserved
-
-
※DI.STP stop and software limit are acceptable.
OVLP: It is allowed to overlap the next PR. When overlapping, please set DLY to 0.
AUTO: Position reached and the next PR is loaded automatically.
CMD: The calculation of the position command termination (Cmd_E) is as follows:
Note 10: angle command – need to enter the starting angle and moving angle
VACC /VDEC: 0 ~ F, the number of vector acceleration/deceleration (4 BIT)
VACC / VDEC (4)
Index P5-20 ~ P5-35
VSPD: 0 ~ F, the number of target vector speed (4 BIT)
VSPD (4)
Index P5-60 ~ P5-75
DLY: 0 ~ F, delay time number (4 BIT). The delay after executing this PR. The external INS
is invalid.
DLY (4)
Index P5-40 ~ P5-55
OVLP: 0 ~ F, overlap percentage selection (4 BIT) and the overlap percentage selection of
the next PR
Grade
7
6
5
4
3
2
1
0
Percentage
45%
40%
35%
30%
25%
20%
10%
0%
Grade
F
E
D
C
B
A
9
8
Percentage
100%
90%
80%
75%
70%
65%
55%
50%
SEL: 0~2, axis selection
SELECT
Code
2
1
Axis
selection
April, 2013
ZX
ZY
0
YX
7-25
ASDA-M
Chapter 7 Motion Control
0: XY, two-axis circular interpolation
1: YZ, two-axis circular interpolation
2: XZ, two-axis circular interpolation
Command source: P6-02~P7-99 of the first axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA (32 bit)
The source of X command is the radius of arc interpolation. Unit: User unit (Pulse of User
Unit)
Command source: P6-02~P7-99 of the second axis, parameter DW1 (DATA-32BIT), 99 PR
in total.
31 ~ 0 BIT
DW1
DATA (32 bit)
The source of Y command is the starting angle of arc. Unit is 0.5 degrees (Note 11)
Command source: P6-02~P7-99 of the third axis, parameter DW1 (DATA-32BIT), 99 PR in
total.
31 ~ 0 BIT
DW1
DATA (32 bit)
The source of Z command is the moving angle of arc. Unit: User unit (Pulse of User Unit)
Note 11: The unit of angle is 0.5 degrees, which means the input value is two times of the
setting value. For example, if it is set to 90 degrees, the input value will be 180.
14) Homing setting: P6-00 ~ P6-01, (64 BIT) one set of PR.
31 ~ 28 27 ~ 24 23 ~ 20 19 ~ 16 15 ~ 12 11 ~ 8
7 ~ 4 3 ~ 0 BIT
DW0
BOOT
DLY
DEC2
DEC1
ACC
PATH
DW1
ORG_DEF (32 bit)
PATH: 0 ~ 0x63, (6 BIT)
00 (Stop): Homing completed and stops
01 ~ 0x63 (Auto): Homing completed and executes the specified PR: 1 ~ 99
Note: PATH (procedure)
ACC: Acceleration time
DEC1/DEC2: The first / second deceleration time
DLY: Delay time
BOOT: Activation mode. When the POWER is ON:
0: will not do homing
1: start homing (Servo ON for the first time)
ORG_DEF: the coordinate value of the origin definition which might not be 0
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April, 2013
Chapter 7 Motion Control
ASDA-M
A. If the motor moves to the origin after completing homing
After finding the origin (Sensor or Z), the motor has to decelerate to stop. The stop
position will slightly exceed the origin:
If the motor moves to the origin, then set PATH to the PR with absolute position
command and set the DATA of the PR to ORG_DEF.
CMD_O: Command Output Position
CMD_E: Command End Position
B. Homing does not define the offset value but uses PATH to specify a path as the offset
value.
After finding the origin, if the user desires to move a short distance of offset S (the
related home Sensor or Z) and set the coordinate to P after moving:
Then do not set PATH to 0, but set ORG_DEF to P-S and the PR absolute position
command to P (set incremental position command to S will do as well)
7.9.1
The Relation between the Previous Path and the Next Path
1) Interrupt (the previous path) and overlap (the next path) can be set in every path
INS
OVLP
INS
Path 1
OVLP
Path 2
Note: Path (procedure)
2) The priority of interrupt command is higher than overlap
PATH 1
PATH 2
OVLP=0
INS=0
OVLP=1
OVLP=0
OVLP=1
April, 2013
Relation
In
sequence
Output
INS=0
Overlap
NO DLY
INS=1
Interrupt
N/A
DLY 1
Note
PATH 1/2 which could be the
combination of speed/position
PATH 2 is SPEED and does not
support overlap
PATH 1/2 which could be the
combination of speed/position
7-27
ASDA-M
7.9.2
Chapter 7 Motion Control
Programming the Path in PR Mode
1) Sequence command
Path 1: is AUTO and has set DLY
Path 2: does not set INS
(DLY starts to count after completing
the command)
Path 1: speed command and has set DLY
Path 2: position command
(DLY starts to count after completing the
command)
2) Overlap
Path 1
Path 2
DLY 1
Speed 1
Path 2
Path 1: has set OVLP but cannot set
DLY
Path 2: does not set INS
3) Internal interrupt
Path 1: AUTO and has set DLY
Path 2: has set INS
(DLY is effective to the internal
interrupt)
It can be used to pre-constitute
complicated Profile
4) External interrupt
Path 1: AUTO or SINGLE
Regardless the setting of DLY
Path 2: has set INS
(DLY is ineffective to the external
interrupt)
Profile can be changed from external
any time
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April, 2013
Chapter 7 Motion Control
ASDA-M
7.10 The Description of E-Cam Function
E-Cam is a virtual cam which is implemented by software. It includes Master axis and Slave
axis. The illustration is as the following:
In PT mode, the position command (slave) is issued by the external pulse input (master).
The two is merely the linear scaling relation (its scaling equals to e-gear ratio). However,
instead of linear scaling, E-Cam is defined by cyclic curve profile, just like the cam shape. In
physical machine cam, slave axis can operate as variable speed motion, alternating motion,
intermittent motion, etc by master axis with the constant speed motion. It is very extensive
in application. Using E-Cam could have similar effect. The following table describes the
differences between E-Cam and Machine Cam.
Machine Cam
Structure
Return to the original position
after rotating a cycle.
Machine Cam
Smooth
Performance
Position
Accuracy
E-Cam
It might not return to the original
position after rotating a cycle. The
structure could be in spiral shape like
mosquito coil incense.
E-Cam
It is determined by the fineness It is interpolated by cubic curve via
of the real process.
software
Very precise (when it has no
vibration)
The command is very precise, but the
actual position might have deviation
due to the servo delay.
Long Distance The longer the slave axis is, Change the value of the table will do. It
Motion
the bigger the cam will be. It is is easy to realize.
April, 2013
7-29
ASDA-M
Chapter 7 Motion Control
not easy to make.
The Necessity The master axis is necessary.
of Master Axis
Flexibility
Maintenance
Others
The master axis is unnecessary when
it is applied to constant speed motion.
It will do by using the internal signal of
the servo drive.
It is inconvenient to change It will do by re-setting the parameter.
and modify and it is expensive
as well.
Machine will wear and the No need to maintain.
maintenance is necessary.
The master axis needs space Save the space and energy which
and it consumes energy as protects the environment.
well.
The main feature of E-Cam is as the followings:
Features of E-Cam
Operation
Active the E-Cam
Function
P5-88.X
E-cam Status
Operate the E-cam in PR mode only.
0: disable E-cam function and force to disengage (default).
1: enable E-cam function and starts to judge the engaged
condition.
Stop/Pre-engage/Engage
Source of Master Axis 
Motion Command of
the Servo Drive
Auxiliary encoder (linear scale)

Pulse command

CAP axis (defined by CAP function)

PR command

Time axis

Synchronous capture axis
The overlap motion command issued by PR and E-Cam
Command of the Servo Drive =
E-Cam command +
PR
command

The command will be issued only in Engaged status

PR command is effective regardless to the E-Cam status.
Except when E-cam is engaging and the source of master
axis is PR command, PR command is 0.
When E-Cam is operating, its position still can be adjusted by PR
command (incremental command in general).
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April, 2013
Chapter 7 Motion Control
ASDA-M
Data Storage
Address of E-Cam
table
Data Size of E-Cam
table

It is stored in Data array and the start address is set by
P5-81.

It is set by P5-82. 720 points is the maximum and 5 points is
the minimum.
Data Format of
E-Cam table
Data Content of
E-Cam table

32-bit signed value.

Save the position of slave axis (User unit, PUU)
Features of E-Cam
The operation of
E-Cam position
DO.CAM_AREA
(DO no.= 0x18)

The master axis operates by incremental command input.

The slave axis issues position command incrementally.

The start and the end of E-Cam curve profile could not
always be the same. It depends on the value of E-Cam
table.

The command is interpolated by cubic curve. The torque on
each point will be smoothly connected because of quadratic
differential operation.

Digital Output (DO): CAM_AREA. If this DO is ON, it means
the E-Cam axis is in the setting area.
E-Cam provided by this servo drive and below is its functional diagram:
Master
Clutch
axis
P5-88.Y
setting
value
Gear box
P5-84: Pulse number sent by master axis
P5-83: E-cam rotation cycle
#1
P5-88.ZU engaged
method
P5-87 lead pulse
P5-89 Engaged
distance
E-cam axis
Pulse command
Slave axis
Slave axis
Gear box
Data array
Cam
(PUU)
#2
(pulse)
Position
controller
…..
POS 0
POS 1
~
April, 2013
P5-81: Table address
P5-82: Data amount N
P5-85: Entering point
P5-19: Table scale
P1-44:
gear ratio
(numerator)
P1-45: gear ratio
(denominator)
P5-88.X
setting
value
7-31
ASDA-M

Chapter 7 Motion Control
Master Axis, the description is as follows:
Function
The moving distance of the master axis is the source which
could drive the E-Cam
Source of Master Source selected by P5-88.Y:
Axis
 Auxiliary encoder (linear scale)
The Setting
Value of P5-88 Y  Pulse command
 PR command
 Time axis
 Synchronous capture axis
 CAP axis (defined by CAP function)
Position of
The position of master axis can be monitored via P5-86. It also
Master Axis
can be written before the E-cam engaged. To change this
P5-86
parameter will not influence the position of the slave. It is
because the moving distance of master axis remains.

Clutch, the description is as follows:
Function
It is used to determine the status of engaged / disengaged
between the master axis and gear box # 1.
The moving distance of the master axis can drive the E-Cam not
until the cam is engaged.
Activate
E-cam
function
P5-88.X
0: disable E-cam function (default value). If the cam is engaged,
the cam will be forced to disengage.
1: enable E-cam function and starts to judge the engaged
condition
E-cam Status
Status can be known via parameter P5-88.S: 0 – Stop; 1 –
Engage; 2 – Pre-engage
Status Description:
 Stop: It is the initial status of the cam. The E-cam will not
operate with the master pulse. When E-cam function is
disabled (P5-88.X=0), it returns to this status.

7-32
Pre-engage: When the engaged condition (path 1) is
April, 2013
Chapter 7 Motion Control
ASDA-M
established, it enters this status. The E-cam still
will not operate with the master pulse.

Engage: When it reaches pre-engaged status (path 3), it
enters this status. The E-cam starts to operate with
the master pulse.
Path Description:
 Path 1:When the engaged condition is established (P5-88.Z),


the status is Stop → Pre-engaged.
The lead pulse is determined by P5-87.
Path 2:When the E-cam function is disabled (P5-88.X=0), it
returns to Stop status.
Path 3:When it is in pre-engaged status, the status is
Pre-engaged → Engaged.
Engage
Condition
P5-88.Z
Lead Pulse
Monitor
Variables
(061)

Path 4:When the disengaged condition is established

(P5-88.U=4), the status is Engaged →
Pre-engaged. The lead pulse is determined by P5-92.
Path 5:When the disengaged condition is established
(P5-88.U=1,2,6), or the E-cam function is disabled
(P5-88.X=0), the status is Engaged → Stop.
When the E-cam is in Stop status, the method of determine
engaged (path 1) is as the following:
0: Engaged immediately. If P5-88.X is set to 1, the engaged
condition is established.
1: When DI.CAM is ON, the E-cam engaged.
2: From CAP to engaged: the E-cam engaged when CAP
function is enabled. After engaged, it starts to count the moving
distance. Since the CAP position is captured by hardware, it
has good instantaneity and no software delay, which is suitable
for the operating master axis before engaged.



April, 2013
In pre-engaged status, the lead pulse is the moving distance
of master axis before the E-cam is engaged (path 3). Its
value decreases when input the master pulse. When the
value is 0, it enters Engaged status.
Enter Pre-engaged status via path 1, the lead pulse is
determined by the value of P5-87.
Enter Pre-engaged status via path 4, the lead pulse is
determined by the value of P5-92.
7-33
ASDA-M
Chapter 7 Motion Control

If the setting is 0, it means no lead pulse and will enter
Engaged status immediately.
Symbol +/- represents the direction of lead pulse. Please note
that the E-cam will be unable to engage if setting the wrong
direction.
If setting the wrong direction, the value of monitor variable (061)
will increase, which is far from 0 and causes overflow at the end.
If it overflows, the E-cam function will be disabled (P5-88.X=0)
and the E-cam will be forced to return to Stop status.
Disengage
Condition
P5-88.U
When the E-cam is in Engaged status, the method of determine
disengaged is as the following:
Note: 2, 4 and 6 cannot be selected at the same time
U
0
Disengage Condition
After Disengaged
Never disengaged. It will be forced to
(Path 5)
disengage until P5-88.X is set to 0.
1
DI.CAM is OFF
Enter Stop Status
(Path 5)
Enter Stop Status
2
Master
axis
receives
the
pulse
number which is set by P5-89 and
stops
immediately.
(The
symbol
represents the direction)
6
Same as 2, the E-cam starts to
decelerate when disengaging. It is
(Path 5)
Enter Stop Status
suitable for the application of calling
the next PR position command right
after disengaged.
4
Master
axis
receives
the
pulse
number which is set by P5-89 and
stops
immediately.
(The
symbol
represents the direction)
(Path 4)
Returns to
Pre-engage Status
The lead pulse is
P5-92
8
Auxiliary
Selection
P5-88.BA
7-34
Disable the E-cam after disengaging
Set P5-88.X=0
When the E-cam disengaged, if it is in the setting distance
(P5-88.U=2), it returns to Stop status and can determine the
execution PR number.
April, 2013
Chapter 7 Motion Control

ASDA-M
Gear #1, the description is as follows:
Function

Set the relativity of master axis and E-cam axis.
e.g. The master axis operates one cycle, the E-cam axis
is no need to operates one cycle.
Description


E-cam axis is a virtual axis.
The E-cam axis operates one cycle (360 degrees) means
the cam operates one cycle and the slave axis operates
one cycle.
The pulse number is the unit of moving distance of the
master axis. Its resolution is determined by the source.

Setting Method
P5-83: M
P5-84: P


If the pulse number of master axis is P, the E-cam axis
operates M cycle.
Then, the setting of gear ratio is P5-83=M, P5-84=P
Cam, the description is as follows:
Function

Set the relation between E-cam axis and slave axis and
define it in the E-cam table.
E-cam axis operates one cycle and the slave axis
operates one cycle.
Data Storage
Address of
E-Cam table

Data array, the start address is set by P5-81
Data Format

32-bit (It has positive and negative, user unit: PUU)
E-Cam Curve
Scaling
P5-19
0 ~ +/- 32.700


It is used to magnify (minify) the E-cam shape.
It equals to the value of data multiplies P5-19.

Switch the symbol,+/- will change the operation
direction of slave axis.

Data Size
April, 2013

If P5-19 is set to0, the E-cam command will not be output
(the setting will be 0 for good).
It is divided into N parts via P5-82 (>=5) and does not
exceed the limit of data array. It means 360 degrees a
cycle of E-cam are divided into N areas. Each area is
(360/N) degrees.
7-35
ASDA-M
Chapter 7 Motion Control
Data Content


The position data of slave axis is saved in E-cam table.
(User unit: PUU).
If E-cam is divided into N areas, the position of each area
must be included in the table. It must set N+1 points in
total. It is because the position of the first point (0 degree)
and the final point (360 degree) might not be the same.
The data of 1.0° and 360°
is the same.
is different.
If:
1. The start and final position is the same, it means after
the E-cam operating a cycle, the slave axis returns to the
origin position.
E-cam operates a cycle
axis
The position of
slave

The data of 2.0° and 360°
The position of E-cam axis
E-cam operates a cycle
axis
The position of
slave
2. The start and final position is different, it means after
the E-cam operating a cycle, the slave axis does not
return to the origin position.
The position of E-cam axis
Operation
Description


7-36
The slave axis is a virtual axis and the unit of slave
position is PUU.
After the E-cam is engaged, the position of the master is
the entering point of P5-85. The position of the slave axis
April, 2013
Chapter 7 Motion Control
ASDA-M





Gear #2, the description is as follows:
Function
Description

Set the relation between slave axis and pulse command

The slave axis operates a cycle, but the pulse command
might not operate a cycle.

The slave axis is a virtual axis and the unit of slave
position is PUU.
The pulse command is the encoder unit (pulse). The
resolution is 1280000 pulse/rev.
For one cycle of the chart, the slave axis operates a cycle.


Setting Method 
P1-44: numerator
P1-45:
denominator


is in the corresponding point to the P5-85 in E-cam table.
After engaging, if the master does not operate, the slave
axis will not operate. If the master operates, the slave will
travel according to the E-cam table.
For one cycle of the chart, the slave axis operates a cycle.
E-cam axis can operate in forward / reverse direction.
If the E-cam position is between two points of the E-cam
table, the position of the slave axis will be interpolated
with cubic curve function. The adjacent curve remains
quadratic differential at the point in order to smooth
torque. The point amount of the table will not influence the
smoothing operation of E-cam.
If the pulse number of slave axis is L, the motor axis
operates M cycle.
Then, the setting of gear ratio is P1-44/P1-45=1280000 x
R/L
The gear ratio of PT and PR is the same.
Digital Output of E-cam, the description is as follows:
DO Name and
Number
Function
When the E-cam
is engaging
When the E-cam
is disengaging
April, 2013

DO.CAM_AREA (DO no.= 0x18)

If DO.CAM_AREA is ON, it means the position of E-cam
axis is in the setting range.



Set the angle range of DO ON by P5-90 and P5-91.
Please refer to table 1 and 2 below
DO.CAM_AREA is OFF.
7-37
ASDA-M
Chapter 7 Motion Control
Table 1 P5-90 <= P5-91:
E-Cam angle
0°
DO:CAM_AREA
OFF
~
OFF
P5-90
ON
~
ON
P5-91
ON
~
OFF
360°
OFF
Table 2 P5-90 > P5-91:
E-Cam angle
0°
DO:CAM_AREA
ON
~
ON
P5-91
OFF
~
OFF
P5-90
OFF
~
ON
360°
ON
7.10.1 Function Description of CAPTURE (Data Capture)
The concept of CAPTURE is to capture the position of motion axis instantaneously by
using the external trigger signal DI5. Then save it in data array so as to be used for
motion control afterwards. Since CAPTURE is finished by hardware, there is no
problem of software delay. It also can accurately capture the high-speed motion axis.
The CAPTURE features provided by this servo drive is as follows.
CAPTURE Features
Pulse Source
 Main encoder of the motor
 Auxiliary encoder (linear scale)
 Pulse command
The selected axis will be displayed in P5-37, the default value can
be written in before capture.
Note: When the source of COMPARE is CAP axis, the CAP
source cannot be changed.
Trigger signal
 Triggered byDI5, the response time is 5 usec.
Note: DI5 directly connects to CAPTURE hardware. Thus,
regardless the setting value of P2-14 (DI Code), CAPTURE
can work. When using CAPTURE, in order to avoid DI error,
system will force to disable DI function, which means the
setting will be P2-14=0x0100 automatically. Since the value
is not written into EEPROM, P2-14 will return to the default
value after re-power on.
Trigger method



Edge trigger can select contact A/B
It is capable to continuously capture more than one point.
It can set the trigger interval.
(The interval between this trigger and the next one.)
Data storage
position
Capture number

Data array. The start address is set by P5-36.

It is set via P5-38 and will not exceed the limit of data array.
Capture format

32-bit (It has positive and negative.)
Auxiliary selection

After capturing the first data, the CAP axis coordinate system
will be set to the value the same as P5-76.
7-38
April, 2013
Chapter 7 Motion Control
ASDA-M
CAPTURE Features

After capturing the first data, the COMPARE function is
enabled automatically.

After capturing all points, PR procedure#50 is triggered
automatically.
DO.CAP_OK



The default value is OFF.
After capturing the last point, this DO is ON.
Set P5-39.X0 to 1 so as to activate CAPTURE function and
this DO is OFF.
Note

If P5-38=0, set the value of P5-39 X, Bit0 to 1 will disable the
CAPTURE function. Clear the setting value of P5-39 X, Bit0
to 0 and set DO.CAP_OK to OFF.
Since the capture axis is 32-bit wide, the accumulation will
cause overflow. Please avoid this.

The CAP data is saved in data array and the first CAP data locates in P5-36. The CAP
number has no limit, thus it can be set via P5-38. The last CAP data is saved in P5-36
+P5-38-1. Set the value of P5-39 X, Bit0 to 1 so as to activate CAP function. Every
time when DI5 is triggered, one data will be captured and saved in data array. Then, the
value of P5-38 will decrease one automatically until the CAP number reaches the
setting value (P5-38 = 0). The CAP procedure is completed, the setting value of P5-39 X,
Bit0 will be cleared to 0 and DO.CAP_OK is ON.
When capturing the first data, the position of CAP axis can be reset. The first CAP value
will be the value set by P5-76. And the value of the second CAP data will be the
incremental value from the first data. This method is called Relative Capture. If not
selecting the first data reset, it is called Absolute Capture.
When capturing the first data, it automatically activates COMPARE function, which
means the COMPARE function is activated via DI5.
The diagram of CAP:
April, 2013
7-39
ASDA-M
Chapter 7 Motion Control
The 1st axis
Automatically activate COMPARE
position can
The 1st point is saved in P5-36.
be reset to
The 2nd point is saved in P5-36+1.
the value as
rd
The 3
P5-76
point is saved in P5-36+2.
Position of
Data Array
…..
POS 1
POS 2
POS 3
~
POS N
CAP Axis
(P5-37)
CAP signal:
1
(DI5)
2
3
N
 PR
CAP
number is set
DO.CAP_OK:
 CAP is
The
via P5-38
completed and set P5-39.X0 to 0.
procedure #50 can be triggered.
 P5-39.X0=1 to activate the next CAP and switch off DO.
7-40
April, 2013
Chapter 7 Motion Control
ASDA-M
7.10.2 Function Description of COMPARE (Data Compare)
The concept of COMPARE is to compare the instant position of motion axis with the
value which is saved in data array. Then output DO3 after the COMPARE condition is
established for motion control. Since COMPARE is finished by hardware, there is no
problem of software delay. It also can accurately compare the high-speed motion axis.
The COMPARE features provided by this servo drive is as follows.
COMPARE Features
Pulse Source




Output signal
 Output by DO3 and the response time is 5 usec.
Note: DO3 directly connects to COMPARE hardware, thus,
regardless the setting value of P2-20 (DO Code), the
function can work. When using COMPARE, in order to
avoid DO error, the system will force to disable DO
function, which means the setting will be P2-20 = 0x0100
automatically. Since the value is not written into
EEPROM, P2-20 will return to the default value after
re-power on.
Output Method
Main Encoder of the Motor
Auxiliary Encoder (linear scale)
Pulse Command
CAP Axis (set by CAPTURE). When selecting this axis,
CAP source cannot be changed.
The selected axis is displayed in P5-57. Before compare, the
default value can be written in.
Data storage position
Compare number





Compare format
Compare condition


Auxiliary selection


Note
April, 2013

Pulse output can select contact A/B.
It is capable to continuously output more than one point.
It can set the pulse output time.
Data array. The start address is set by P5-56.
It is set via P5-58 and will not exceed the limit of data
array.
32-bit (It has positive and negative.)
It will be triggered when the source of compare axis pass
through the compare value.
Cycle mode: When comparing to the last point, it
automatically returns to the first point and starts to
compare.
When the last compare is completed, the CAPTURE
function is activated automatically.
If P5-58 is set to 0, set the value of P5-59 X, Bit0 to1 will
7-41
ASDA-M
Chapter 7 Motion Control
be unable to compare. Set the value of P5-59 X, Bit0 to 0.
Since the capture axis is 32-bit wide, the accumulation will
cause overflow. Please avoid this.

The value of COMPARE is saved in data array and the first compare data locates in
P5-56. The CMP number has no limit, thus it can be set via P5-58. The last CMP data is
saved in P5-56+P5-58-1. Set the value of P5-59 X, Bit0 to 1 so as to activate CMP
function and start to compare the first data of data array. Every time when a position
saved in data array is compared, the compare DO will be output. Then, the value of
P5-58 will decrease one automatically and compare the next value until the CMP
number reaches the setting value (P5-58 = 0). When the CMP procedure is completed,
the setting value of P5-59 X, Bit0 will be cleared to 0.
When comparing to the last point, it can select if it returns to the first data for comparing.
This is called cycle mode. Or it can activate CAPTURE function and wait DI5 for
triggering CAP/CMP procedure.
The diagram of COMPARE:
The 1st point is saved in P5-56.
nd
point is saved in P5-56+1.
rd
point is saved in P5-56+2.
The 2
The 3
Position
of
CMP axis:
Data Array
…..
POS 1
POS 2
POS 3
~
POS N
(P5-57)
CMP signal:
1
(DO3)
2
3
N
Set the compared number via P5-58
The output pulse can be set via P5-59.CBA

Select to activate CAPTURE function
(If Capture has been activated, it is invalid.)
The output of the last pulse is completed, it will execute:
 Non-cycle mode: CMP is completed, set P5-59.X0 to 0.
st
 Cycle mode: Compare the 1 point again, the value of P5-59.X0
7-42
is 1.
April, 2013
Chapter 8 Parameters
ASDA-M
Chapter 8 Parameters
8.1 Parameter Definition
Parameters are divided into eight groups which are shown as follows. The first character
after the start code P is the group character and the second character is the parameter
character.
As for the communication address, it is the combination of group number along with two
digit number in hexadecimal. The definition of parameter groups is as the followings:
Group 0: Monitor Parameters
(e.g.: P0-xx)
Group 1: Basic Parameters
(e.g.: P1-xx)
Group 2: Extension Parameters
(e.g.: P2-xx)
Group 3: Communication Parameters
(e.g.: P3-xx)
Group 4: Diagnosis Parameters
(e.g.: P4-xx)
Group 5: Motion Setting Parameters
(e.g.: P5-xx)
Group 6: PR Parameters
(e.g.: P6-xx)
Group 7: PR Parameters
(e.g.: P7-xx)
Control Mode Description:
PT is position control mode. (Input the position command via the terminal block)
PR is position control mode. (The internal register issues the position command)
S is speed control mode.
T is torque control mode.
Special Symbol Description:
(★) Read-only register, can only read the status. For example: parameter P0-00, P0-10 and
P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-power on or off the servo drive, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
April, 2013
8-1
ASDA-M
Chapter 8 Parameters
8.2 Parameters
Monitor and General Output Parameter
Parameter
Abbr.
P0-00★
VER
Firmware Version
P0-01■
ALE
P0-02
P0-03
P0-08★
Function
Default Unit
Control Mode Related
PT PR S T Section
Factory
Setting
N/A
O O O O
-
Alarm Code Display of Drive
(Seven-segment Display)
N/A
N/A
O O O O
10.1
10.2
10.3
STS
Drive Status
01
N/A
O O O O
7.2
MON
Analog Output Monitor
1100
N/A
O O O O
6.6.3
0
Hour
TSON Servo on Time
-
P0-09★
CM1
Status Monitor Register 1
N/A
N/A
O O O O
4.3.5
P0-10★
CM2
Status Monitor Register 2
N/A
N/A
O O O O
4.3.5
P0-11★
CM3
Status Monitor Register 3
N/A
N/A
O O O O
4.3.5
P0-12★
CM4
Status Monitor Register 4
N/A
N/A
O O O O
4.3.5
P0-13★
CM5
Status Monitor Register 5
N/A
N/A
O O O O
4.3.5
P0-17
CM1A
0
N/A
-
P0-18
CM2A
0
N/A
-
P0-19
CM3A
0
N/A
-
P0-20
CM4A
0
N/A
-
P0-21
CM5A
0
N/A
-
P0-25
MAP1 Mapping Parameter # 1
P0-26
MAP2 Mapping Parameter # 2
P0-27
MAP3 Mapping Parameter # 3
P0-28
MAP4 Mapping Parameter # 4
P0-29
MAP5 Mapping Parameter # 5
8-2
Status Monitor
Selection
Status Monitor
Selection
Status Monitor
Selection
Status Monitor
Selection
Status Monitor
Selection
Register
1
Register
2
Register
3
Register
4
Register
5
No need
to
initialize
No need
to
initialize
No need
to
initialize
No need
to
initialize
No need
to
initialize
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
April, 2013
Chapter 8 Parameters
ASDA-M
Monitor and General Output Parameter
Parameter
Abbr.
Function
P0-30
MAP6 Mapping Parameter # 6
P0-31
MAP7 Mapping Parameter # 7
P0-32
MAP8 Mapping Parameter # 8
P0-35
MAP1A
P0-36
MAP2A
P0-37
MAP3A
P0-38
MAP4A
P0-39
MAP5A
P0-40
MAP6A
P0-41
MAP7A
P0-42
MAP8A
P0-46★
SVSTS
P1-04
MON1
P1-05
MON2
Default Unit
No need
to
N/A
initialize
No need
to
N/A
initialize
No need
to
N/A
initialize
Target Setting of Mapping
0x0
Parameter P0-25
Target Setting of Mapping
0x0
Parameter P0-26
Target Setting of Mapping
0x0
Parameter P0-27
Target Setting of Mapping
0x0
Parameter P0-28
Target Setting of Mapping
0x0
Parameter P0-29
Target Setting of Mapping
0x0
Parameter P0-30
Target Setting of Mapping
0x0
Parameter P0-31
Target Setting of Mapping
0x0
Parameter P0-32
Servo Digital Output Status
0
Display
MON1Analog Monitor Output
100
Proportion
MON2 Analog Monitor Output
100
Proportion
Control Mode Related
PT PR S T Section
O O O O
4.3.5
O O O O
4.3.5
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
4.3.5
N/A
O O O O
-
%(full
O O O O
scale)
%(full
O O O O
scale)
6.6.3
6.6.3
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
April, 2013
8-3
ASDA-M
Chapter 8 Parameters
Filter and Resonance Suppression Parameter
Parameter
Abbr.
P1-06
SFLT
P1-07
TFLT
P1-08
PFLT
P1-25
VSF1
P1-26
VSG1
P1-27
VSF2
P1-28
VSG2
P1-29
AVSM
P1-30
VCL
P1-34
TACC
P1-35
TDEC
P1-36
TSL
P1-59
MFLT
P1-68
PFLT2
P2-23
NCF1
P2-24
DPH1
P2-43
NCF2
P2-44
DPH2
P2-45
NCF3
P2-46
DPH3
8-4
Function
Analog
Speed
Command
(Low-pass Filter)
Analog
Torque
Command
(Low-pass Filter)
Smooth Constant of Position
Command
(Low-pass Filter)
Low-frequency
Vibration
Suppression (1)
Low-frequency
Vibration
Suppression Gain (1)
Low-frequency
Vibration
Suppression (2)
Low-frequency
Vibration
Suppression Gain (2)
Auto Low-frequency Vibration
Supression Setting
Low-frequency
Vibration
Detection
Acceleration Constant of
S-Curve
Deceleration Constant of
S-Curve
Acceleration / Deceleration
Constant of S-Curve
Analog Speed Command
(Moving Filter)
Position Command Moving
Filter
Resonance suppression
(Notch filter) (1)
Resonance
Suppression
(Notch filter) Attenuation Rate
(1)
Resonance Suppression
(Notch filter) (2)
Resonance
Suppression
(Notch filter) Attenuation Rate
(2)
Resonance Suppression
(Notch filter) (3)
Resonance
Suppression
(Notch filter) Attenuation Rate
(3)
Default Unit
0
ms
0
ms
0
10
ms
Control Mode Related
PT PR S T Section
O
6.3.3
O
6.4.3
O
O
6.2.6
0.1H
O
z
O
6.2.9
N/A
O
O
6.2.9
0.1H
O
z
O
6.2.9
0
N/A
O
O
6.2.9
0
N/A
O
O
6.2.9
Puls
O
e
O
6.2.9
1000
0
1000
500
200
ms
O
6.3.3
200
ms
O
6.3.3
0
ms
O
6.3.3
0
1ms
O
-
4
ms
O
O
1000
Hz
O
O
O
O
6.3.7
0
dB
O
O
O
O
6.3.7
1000
Hz
O
O
O
O
6.3.7
0
dB
O
O
O
O
6.3.7
1000
Hz
O
O
O
O
6.3.7
0
dB
O
O
O
O
6.3.7
O
-
April, 2013
Chapter 8 Parameters
P2-47
P2-48
P2-25
P2-49
ASDA-M
Auto Resonance Suppression
1
Mode Setting
Resonance
Suppression
ANCL
100
Detection Level
Low-pass Filter of Resonance 0.2 or
NLP
Suppression
0.5
SJIT Speed Detection Filter
0
ANCF
N/A
O
O
O
O
-
N/A
O
O
O
O
-
1ms O
O
O
O
6.3.7
N/A
O
O
O
-
O
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Gain and Switch Parameter
Function
Default Unit
Control Mode Related
PT PR S T Section
Parameter
Abbr.
P2-00
KPP
Position Loop Gain
35
P2-01
PPR
Switching Rate of Position
Loop Gain
100
%
O O
6.2.8
P2-02
PFG
Position Feed Forward Gain
50
%
O O
6.2.8
P2-03
PFF
Smooth Constant of Position
Feed Forward Gain
5
ms
O O
-
P2-04
KVP
Speed Loop Gain
500
P2-05
SPR
Switching Rate of Speed Loop
Gain
100
P2-06
KVI
Speed Integral Compensation
100
P2-07
KVF
Speed Feed Forward Gain
0
%
O O O O
6.3.6
P2-26
DST
Anti-interference Gain
0
1
O O O O
-
P2-27
GCC
Gain Switching and Switching
Selection
0
N/A O O O O
-
P2-28
GUT
Gain Switching Time Constant
10
P2-29
GPE
Gain Switching
1280000
rad/s O O
rad/s O O O O
%
O O O O
rad/s O O O O
10
O O O O
ms
Pulse
Kpps O O O O
r/min
P2-31■
Speed
Loop
Frequency
AUT1 Response Setting in Auto and
Semi-auto Mode
80
Hz
P2-32▲
AUT2 Tuning Mode Selection
0
N/A O O O O
April, 2013
6.2.8
6.3.6
6.3.6
5.6
O O O O
6.3.6
5.6
6.3.6
8-5
ASDA-M
Chapter 8 Parameters
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Position Control Parameter
Parameter
P1-01●
P1-02▲
Abbr.
Function
CTL
Input Setting of Control Mode
and Control Command
0
PSTL Speed and Torque Limit Setting
0
P1-12 ~
P1-14
TQ1 ~ 3
P1-46▲
GR3
Default Unit
Control Mode Related
PT PR S T Section
Pulse
r/min O O
N-M
N/A
O O
Torque Command 1 ~ 3 ;
100
% O O
Torque Limit 1 ~ 3
Pulse Number of Encoder
2500 Pulse O O
Output
P1-55
MSPD Maximum Speed Setting
P2-50
DCLR Pulse Clear Mode
rated r/min O O
0
N/A
O
O
6.1
O
O
6.6
O
O
6.4.1
O
O
-
O
O
-
O O
-
External Pulse Command (PT mode)
P1-00▲
PTT
External Pulse Input Type
0x2
N/A
O
6.2.1
P1-44▲
GR1
Gear Ratio (Numerator) (N1)
128
Pulse O O
6.2.5
P1-45▲
GR2
Gear Ratio (Denominator) (M)
10
Pulse O O
6.2.5
P2-60▲
GR4
Gear Ratio (Numerator) (N2)
128
Pulse O O
-
P2-61▲
GR5
Gear Ratio (Numerator) (N3)
128
Pulse O O
-
P2-62▲
GR6
Gear Ratio (Numerator) (N4)
128
Pulse O O
-
Register Control Command (PR mode)
P6-02 ~
P7-99
P5-60 ~
P5-75
P5-03
P5-04
PATH#1
~
Internal Position Command 1 ~
0
N/A
O
PATH#9 99
9
POV0 ~
20.0 ~
1
Target Speed Setting #0 ~ 15
O
3000.0 r/min
POV15
Deceleration Time of Auto 0XE0EF
PDEC
N/A O O
EEFF
Protection
HMOV Homing Mode
0
N/A
7.10
7.10
O
O
O
-
st
P5-05
P5-06
8-6
1 Speed Setting of High
1
100.0
O O
Speed Homing
r/min
2nd Speed Setting of Low
1
HSPD2
20.0
O O
Speed Homing
r/min
HSPD1
O
O
-
O
O
April, 2013
Chapter 8 Parameters
ASDA-M
Position Control Parameter
Parameter
Abbr.
Function
P5-07
PRCM
Trigger Position Command (PR
mode only)
P5-20 ~
P5-35
P5-40 ~
P5-55
AC0 ~
AC15
DLY0 ~
DLY15
P5-98
P5-99
P5-15■
P5-16■
Default Unit
0
N/A
O
-
ms
O
7.10
ms
O
7.10
N/A
O
-
N/A
O
-
N/A
O O
O
O
-
0
PUU O O
O
O
7.3
N/A
Pulse
O O
No.
O
O
7.3
N/A
Pulse
O O
No.
O
O
7.3
200 ~
30
Delay Time after Position 0 ~
Completed (Number #0 ~ 15)
5500
Position Command of Event
EVON
0
Rising-edge Trigger
Position Command of Event
EVOF
0
Falling-edge Trigger
PATH#1 ~ PATH#2 No Data
PMEM
0x0
Retained Setting
Acceleration/Deceleration
Time (Number #0 ~ 15)
AXEN Axis Position-Motor Encoder
-
Auxiliary
Control Mode Related
PT PR S T Section
P5-17
AXPC
Axis Position
Encoder
P5-18
AXAU
Axis
Position
Command
P5-08
SWLP Forward Software Limit
+231
PUU
O
O
-
P5-09
SWLN Reverse Software Limit
-231
PUU
O
O
-
-
Pulse
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Speed Control Parameter
Parameter
Abbr.
Function
P1-01●
CTL
Input Setting of Control Mode
and Control Command
0
P1-02▲
PSTL Speed and Torque Limit Setting
0
P1-46▲
GR3
P1-55
April, 2013
Default Unit
Control Mode Related
PT PR S T Section
Pulse
r/min O O
N-M
O
O
6.1
O O
O
O
6.6
Output Pulse Counts Per One
2500 Pulse O O
Motor Revolution
O
O
-
O
O
-
MSPD Maximum Speed Limit
N/A
rated r/min O O
8-7
ASDA-M
P1-09 ~
P1-11
P1-12 ~
P1-14
P1-40▲
P1-41▲
P1-76
Chapter 8 Parameters
Internal Speed Command 1 ~ 1000
0.1
SP1 ~ 3 3 ;
~
r/min
Internal Speed Limit 1 ~ 3
3000
Internal Torque Command 1 ~
TQ1 ~ 3 3 ;
100
% O O
Internal Torque Limit 1 ~ 3
Maximum Speed of Analog
VCM
rated r/min
Speed Command
Maximum Output of Analog
TCM
100
% O O
Torque Speed
Maximum Rotation Setting of
AMSPD
5500 r/min O O
Encoder Setting (OA, OB)
O
O
6.3.1
O
O
6.6.2
O
O
6.3.4
O
O
-
O
O
-
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Torque Control Parameter
Parameter
Abbr.
Function
CTL
Input Setting of Control Mode
and Control Command
0
P1-02▲
PSTL Speed and Torque Limit Setting
0
P1-46▲
GR3
P1-01●
Default Unit
Control Mode Related
PT PR S T Section
Pulse
r/min O
N-M
O
O
O
6.1
O
O
O
O
6.6
Output Pulse Counts Per One
2500 Pulse O
Motor Revolution
O
O
O
-
O
O
O
-
O
O
6.6.1
O
O
6.4.1
O
O
-
O
O
6.4.4
N/A
P1-55
MSPD Maximum Speed Limit
rated r/min O
P1-09
~
P1-11
P1-12
~
P1-14
Internal Speed Command 1 ~
SP1~3 3 ;
Internal Speed Limit 1 ~ 3
100
~
300
r/min
Internal Torque Command 1 ~
TQ1~3 3 ;
Internal Torque Limit 1 ~ 3
100
%
P1-40▲
VCM
P1-41▲
TCM
O
Maximum Speed of Analog
rated r/min
Speed Command
Maximum Output of Analog
100
% O
Torque Limit
O
O
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
8-8
April, 2013
Chapter 8 Parameters
(●)
(■)
ASDA-M
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Planning of Digital Input / Output Pin and Output Setting Parameter
Parameter
Abbr.
Function
Default Unit
P2-09
DRT
DI Debouncing Time
P2-10
DI1
DI1 Functional Planning
P2-11
DI2
P2-12
2ms O O
O
O
N101
N/A
O O
O
O
DI2 Functional Planning
N104
N/A
O O
O
O
DI3
DI3 Functional Planning
N116
N/A
O O
O
O
P2-13
DI4
DI4 Functional Planning
N117
N/A
O O
O
O
P2-14
DI5
DI5 Functional Planning
N102
N/A
O O
O
O
P2-15
DI6
DI6 Functional Planning
N021
N/A
O O
O
O
P2-18
DO1
DO1 Functional Planning
N101
N/A
O O
O
O
P2-19
DO2
DO2 Functional Planning
N103
N/A
O O
O
O
P2-20
DO3
DO3 Functional Planning
N007
N/A
O O
O
O
P1-38
ZSPD
Zero Speed Range Setting
10.0
1
O O
r/min
O
O
P1-39
SSPD
Target Motor Detection Level
3000 r/min O O
O
O
P1-42
P1-43
P1-47
2
Control Mode Related
PT PR S T Section
Enable
Delay
Time
of
Mechancial Brake
Disable
Delay
Time
of
MBT2
Mechancial Brake
Speed Reached (DO.SP_OK)
SPOK
Range
MBT1
P1-54
PER
Position Completed Range
P1-56
OVW
Output
Level
Overload
Warning
Table
8.1
Table
8.1
Table
8.1
Table
8.1
Table
8.1
Table
8.1
Table
8.2
Table
8.2
Table
8.2
Table
8.2
Table
8.2
0
ms
O O
O
O
6.5.5
0
ms
O O
O
O
6.5.5
10
r/min
O
-
12800 Pulse O O
120
%
O O
O
O
-
(★) Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
April, 2013
8-9
ASDA-M
(●)
(■)
(N)
Chapter 8 Parameters
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Axial code: Symbol N in default setting is 1~3 which means the value is in
accordance with the displayed default value. For example, the display of P2-10 will
show 1101 when selecting X axis, 2101 when selecting Y axis and 3101 when
selecting Z.
Communication Parameter
Parameter
Abbr.
Function
Default Unit
P3-00●
P3-01
ADR
BRT
Address Setting
Transmission Speed
P3-02
PTL
Communication Protocol
6
P3-03
FLT
Communication Error Disposal
P3-04
CWD
P3-05
CMM
P3-06■
0x7C
N/A
0x0203 bps
Control Mode Related
PT PR S T Section
O
O
O
O
O
O
O
O
9.2
9.2
N/A
O
O
O
O
9.2
0
N/A
O
O
O
O
9.2
Communication Timeout
0
sec
O
O
O
O
9.2
Communication Mechanism
0
N/A
O
O
O
O
9.2
SDI
Control Switch of Digital Input
(DI)
0
N/A
O
O
O
O
9.2
P3-07
CDT
Communication
Delay Time
0
1ms O
O
O
O
9.2
P3-08■
MNS
Monitor Mode
N/A
O
O
O
O
9.2
P3-09
SYC
CANopen Synchronize Setting 0x57A1 N/A
O
O
O
O
9.2
Response
0000
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
Diagnosis Parameter
Abbr.
P4-00★
ASH1
Fault Record (N)
0
N/A O
O
O
O
4.4.1
P4-01★
ASH2
Fault Record (N-1)
0
N/A O
O
O
O
4.4.1
P4-02★
ASH3
Fault Record (N-2)
0
N/A O
O
O
O
4.4.1
P4-03★
ASH4
Fault Record (N-3)
0
N/A O
O
O
O
4.4.1
P4-04★
ASH5
Fault Record (N-4)
0
N/A O
O
O
O
4.4.1
P4-05
JOG
Servo Motor Jog Control
20
r/min O
O
O
O
4.4.2
8-10
Function
Default Unit
Control Mode Related
PT PR S T Section
Parameter
April, 2013
Chapter 8 Parameters
ASDA-M
Diagnosis Parameter
Function
Abbr.
P4-06▲■
FOT
Digital Output Register
(Readable and Writable)
0
N/A O
O
O
O
4.4.3
P4-07
ITST
Multi-function of Digital Input
0
N/A O
O
O
O
4.4.4
P4-08★
PKEY
N/A
N/A O
O
O
O
-
P4-09★
MOT
N/A
N/A O
O
O
O
4.4.5
P4-10■
CEN
0
N/A O
O
O
O
-
P4-11
SOF1
P4-12
SOF2
P4-13
TOF1
P4-14
TOF2
P4-15
COF1
P4-16
COF2
P4-17
COF3
P4-18
COF4
P4-19
TIGB
P4-20
DOF1
P4-21
DOF2
P4-22
SAO
P4-23
TAO
Input Status of the Drive
Keypad (Read-only)
Digital Output Status
(Read-only)
Adjustment Selection
Analog Speed Input Offset
Adjustment 1
Analog Speed Input Offset
Adjustment 2
Analog Torque Input Offset
Adjustment 1
Analog Torque Input Offset
Adjustment 2
Current Detector (V1 Phase)
Offset Adjustment
Current Detector (V2 Phase)
Offset Adjustment
Current Detector (W1 Phase)
Offset Adjustment
Current Detector (W2 Phase)
Offset Adjustment
IGBT NTC Adjustment
Detection Level (cannot reset)
Offset Adjustment Value of
Analog Monitor Output (Ch1)
Offset Adjustment Value of
Analog Monitor Output (Ch2)
Default Unit
Control Mode Related
PT PR S T Section
Parameter
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
Factory
N/A
Setting
O
O
O
O
-
0
mV
O
O
O
O
6.6.3
0
mV
O
O
O
O
6.6.3
Analog Speed Input OFFSET
0
mV
Analog Torque Input OFFSET
0
mV
O
O
-
(★)
Read-only register, can only read the status. For example: parameter P0-00, P0-10
and P4-00, etc.
(▲) Setting is unable when Servo On, e.g. parameter P1-00, P1-46 and P2-33, etc.
(●)
Not effective until re-turning on or off, e.g. parameter P1-01 and P3-00.
(■)
Parameters of no data retained setting, e.g. parameter P2-30 and P3-06.
April, 2013
8-11
ASDA-M
Chapter 8 Parameters
8.3 Parameter Description
P0-xx
P0-00★
Monitor Parameters
VER
Address: 0000H
0001H
Related Section: -
Firmware Version
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: Factory Setting
Control
Mode:
ALL
Unit: Range: Data Size:16bit
Format: DEC
Settings: This parameter shows the firmware version of the servo drive.
P0-01■
Drive Address: 0002H
0003H
Parameter
Related Section:
Parameter for individual axis
Section 10.1
Attribute:
Section 10.2
Operational
Section 10.3
Panel / Software
Communication
Interface:
ALE
Alarm
Code
Display
(Seven-segment Display)
of
Default: Control
Mode:
ALL
Unit: Range: It only can be set to 0 to clear the alarm
(Same as DI.ARST).
Data Size:16bit
Format: HEX
Settings: Hexadecimal format: displays the alarm code
8-12
April, 2013
Chapter 8 Parameters
ASDA-M
Alarm of Servo Drive
001:Over current
002:Over voltage
003:Under voltage (In default setting, the alarm occurs only when
the voltage is not enough in Servo ON status; In Servo ON
status, when it applies to power R, S, T, the alarm still will not
be cleared. Please refer to P2-66.)
004:Motor combination error (The drive corresponds to the wrong
motor)
005:Regeneration error
006:Over load
007:Over speed
April, 2013
8-13
ASDA-M
Chapter 8 Parameters
008:Abnormal pulse command
009:Excessive deviation of position command
011 : Encoder error (The servo drive cannot connect to the
encoder because of disconnection or abnormal wiring)
012:Adjustment error
013:Emergency stop
014:Reverse limit error
015:Forward limit error
016:IGBT overheat
017:Abnormal EEPROM
018:Abnormal signal output
019:Serial communication error
020:Serial communication time out
021:Reserved
022:Main circuit power lack phase
023:Early warning for overload
024:Encoder initial magnetic field error (The magnetic field of the
encoder U,V, W signal is in error)
025:The internal of the encoder is in error. (The internal memory
of the encoder and the internal counter are in error)
026:Unreliable internal data of the encoder
027:Encoder reset error
028:The internal of the motor is in error
029:The internal of the motor is in error
030:Motor crash error
031:Incorrect wiring of the motor power line U, V, W (Incorrect
wiring of the motor power line U, V, W, GND)
040:Excessive deviation of full closed-loop position control
041:Communication of linear scale is breakdown
081:Excessive deviation between two axes of the gantry
082:Abnormal gantry selection
099:DSP firmware upgrade
8-14
April, 2013
Chapter 8 Parameters
ASDA-M
Alarm of CANopen Communication
111:CANopen SDO receives buffer overflow
112:CANopen PDO receives buffer overflow
121:Index error occurs when accessing CANopen PDO
122:Sub-Index error occurs when accessing CANopen PDO
123:Data size error occurs when accessing CANopen PDO
124:Data range error occurs when accessing CANopen PDO
125:CANopen PDO object is read-only and write-protected.
126:CANopen PDO object is not allowed in PDP
127:CANopen PDO object is write-protected when Servo ON
128 : Error occurs when reading CANopen PDO object via
EEPROM
129 : Error occurs when writing CANopen PDO object via
EEPROM
130:The accessing address of EEPROM is out of range when
using CANopen PDO object
131: CRC of EEPROM calculation error occurs when using
CANopen PDO object
132:Enter the incorrect password when using CANopen PDO
object
185:Abnormal CAN Bus hardware
Alarm of Motion Control
201:An error occurs when loading CANopen data
213 ~ 219:An error occurs when writing parameter via PR
procedure. Please refer to Chapter 10 of the manual
for further information.
235:PR command overflows
245:PR positioning is over time
April, 2013
8-15
ASDA-M
Chapter 8 Parameters
249:The number of PR command exceeds the range
261:Index error occurs when accessing CAN object
263:Sub-Index error occurs when accessing CAN object
265:Data size error occurs when accessing CAN object
267:Data range error occurs when accessing CAN
269:CAN object is read-only and write-protected
26b:CAN object is not allowed in PDO
26d:CAN object is write-protected when Servo ON
26F:Error occurs when reading CAN object via EEPROM
271:Error occurs when writing CAN object via EEPROM
273:The accessing address of EEPROM is out of range when
using CAN object
275:CRC of EEPROM calculation error occurs when using CAN
object
277:Enter the incorrect password when using CAN object
283:Forward software limit
285:Reverse software limit
289:Feedback position counter overruns
301:CANopen fails to synchronize
302:The synchronized signal of CANopen is sent too fast
303:The synchronized signal of CANopen is sent too slow
304:CANopen IP command is failed
305:SYNC Period is in error
380:Position Deviation Alarm of DO.MC_OK. Please refer to
parameter P1-48.
P0-02
STS
Drive Status
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0004H
0005H
Related Section:
Section 7.2
Communication
Default: 01
Control
Mode:
ALL
Unit: Range: 00 ~ 127
8-16
April, 2013
Chapter 8 Parameters
ASDA-M
Data Size:16bit
Format: DEC
Settings: 00 : Motor feedback pulse number (after the scaling of
electronic gear ratio) [PUU]
01:Input pulse number of pulse command (after the scaling of
electronic gear ratio) [PUU]
02:Deviation between control command pulse and feedback
pulse number[PUU]
03 : The number of motor feedback pulse [Encoder unit,
1,280,000 Pulse/rev]
04:Input pulse number of pulse command (before the scaling of
electronic gear ratio) [Encoder unit, 1,280,000 Pulse/rev]
05:Deivation pulse number (before the scaling of electronic gear
ratio) [Encoder unit, 1,280,000 Pulse/rev]
06:The frequency of pulse command input [Kpps]
07:Motor speed [r/min]
08:Speed command input [Volt]
09:Speed command input [r/min]
10:Torque command input [Volt]
11:Torque command input [%]
12:Average torque [%]
13:Peak torque [%]
14:Main circuit voltage (BUS voltage)[Volt]
15:Load/motor inertia ratio [0.1times]
16:IGBT temperature
17:The frequency of resonance suppression
18:The distance from the current position to Z. The range of the
value is between -5000 and +5000.
0
0
0
Z
Z
Z
+5000 -4999 +5000 -4999
The interval of the two Z-phase pulse command if
10000 Pulse.
19:Mapping Parameter #1:P0-25
20:Mapping Parameter #2:P0-26
April, 2013
8-17
ASDA-M
Chapter 8 Parameters
21:Mapping Parameter #3:P0-27
22:Mapping Parameter #4:P0-28
23:Monitor Variable #1:P0-09
24:Monitor Variable #2:P0-10
25:Monitor Variable #3:P0-11
26:Monitor Variable #4:P0-12
P0-03
MON
Address: 0006H
0007H
Related
Section:
Section 6.6.3
Analog Output Monitor
Parameter
Attribute:
Parameter for three axes
Operational
Interface:
Panel / Software
Communicaiton
Default: 1100
Control
Mode:
ALL
Unit: Range: 0x0000 ~ 0x3377
Data Size: 16bit
Format: HEX
Settings:
MON2
MON1
Axis MON2
Axis MON1
Not used
8-18
April, 2013
Chapter 8 Parameters
ASDA-M
MON1,
MON2
Description
Setting
Value
0
Motor speed (+/-8 Volts/Max. speed)
1
Motor torque (+/-8 Volts/Max. torque)
2
Pulse command frequency (+8 Volts/4.5Mpps)
3
Speed command (+/-8 Volts/Max. speed command)
4
Torque command (+/-8 Volts/Max. torque
command)
5
VBUS voltage (+/-8 Volts/450V)
6
Reserved
7
Reserved
MON1 axis
selection
1
MON1 is from X axis
2
MON1 is from Y axis
3
MON1 is from Z axis
Description
MON2 axis
selection
1
MON2 is from X axis
2
MON2 is from Y axis
3
MON2 is from Y axis
Description
NOTE Please refer to parameter P1-04, P1-05 for proportional setting
of analog output voltage.
For example: P0-03 = 1101 (MON1 is the analog output of
motor speed in X axis; MON2 is
the analog output of motor torque
in X axis.)
P0-04■ Reserved
April, 2013
MON1 output voltage
8 MON2 output voltage
8
M
M
. M
M
.
P
P
(unit: Volts)
(unit: Volts)
Address: 0008H
0009H
8-19
ASDA-M
Chapter 8 Parameters
P0-05■ Reserved
Address: 000AH
000BH
P0-06■ Reserved
Address: 000CH
000DH
P0-07■ Reserved
Address: 000EH
000FH
P0-08★
TSON
Power On Time
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0010H
0011H
Related Section: -
Communicaiton
Default: 0
Control
Mode:
-
Unit: Hour
Range: 0 ~ 65535
Data Size:16bit
Format: DEC
Settings: It shows the total startup time of the servo drive.
P0-09★
CM1
Status Monitor Register 1
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0012H
0013H
Related Section:
Section 4.3.5
Communicaiton
Default: Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: DEC
8-20
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: The setting value which is set by P0-17 should be monitored via
P0-09. (Please refer to Chapter 7.2.1, Description of Monitor
Variable for the setting value.)
For example, if P0-17 is set to 3, when accessing P0-09, it
obtains the total feedback pulse number of motor encoder. For
MODBUS communication, two 16bit data, 0012H and 0013H will
be read as a 32bit data; (0013H : 0012H) = (Hi-word:Low-word).
Set P0-02 to 23, the panel displays VAR-1 first, and then shows
the content of P0-09.
P0-10★
CM2
Status Monitor Register 2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0014H
0015H
Related Section:
Section 4.3.5
Communicaiton
Default: Control
Mode:
ALL
Unit: Range: Date Size: 32bit
Format: DEC
Settings: The setting value which is set by P0-18 should be monitored via
P0-10. (Please refer to Chapter 7.2.1, Description of Monitor
Variable for the setting value.) Set P0-02 to 24, the panel displays
VAR-2 first, and then shows the content of P0-10.
P0-11★
CM3
Status Monitor Register 3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0016H
0017H
Related Section:
Section 4.3.5
Communicaiton
Default: Control
Mode:
April, 2013
ALL
8-21
ASDA-M
Chapter 8 Parameters
Unit: Range: Data Size: 32bit
Format: DEC
Settings: The setting value which is set by P0-19 should be monitored via
P0-11. (Please refer to Chapter 7.2.1, Description of Monitor
Variable for the setting value.) Set P0-02 to 25, the panel displays
VAR-3 first, and then shows the content of P0-11.
P0-12★
CM4
Status Monitor Register 4
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0018H
0019H
Related Section:
Section 4.3.5
Communication
Default: Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: DEC
Settings: The setting value which is set by P0-20 should be monitored via
P0-12. (Please refer to Chapter 7.2.1, Description of Monitor
Variable for the setting value.) Set P0-02 to 26, the panel displays
VAR-4 first, and then shows the content of P0-12.
P0-13★
CM5
Status Monitor Register 5
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 001AH
001BH
Related Section:
Section 4.3.5
Communication
Default: Control
Mode:
ALL
Unit: 8-22
April, 2013
Chapter 8 Parameters
ASDA-M
Range: Data Size: 32bit
Format: DEC
Settings: The setting value which is set by P0-21 should be monitored via
P0-13. (Please refer to Chapter 7.2.1, Description of Monitor
Variable for the setting value.)
P0-14
Reserved
Address: 001CH
001DH
P0-15
Reserved
Address: 001EH
001FH
P0-16
Reserved
Address: 0020H
0021H
P0-17
CM1A
Status Monitor Register 1 Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0022H
0023H
Related Section: -
Communicaiton
Default: 0
Control
Mode:
-
Unit: Range: 0 ~ 127
Data Size: 16bit
Format: DEC
Settings: Please refer to Chapter 7.2.1, Description of Monitor Variable for
the setting value.
For example:
If P0-17 is set to 07, then reading P0-09 means reading「Motor
speed (r/min)」.
April, 2013
8-23
ASDA-M
P0-18
Chapter 8 Parameters
CM2A
Status Monitor Register 2 Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0024H
0025H
Related Section: -
Communication
Default: 0
Control
Mode:
-
Unit: Range: 0 ~ 127
Data Size: 16bit
Format: DEC
Settings: Please refer to Chapter 7.2.1, Description of Monitor Variable for
the setting value.
P0-19
CM3A
Status Monitor Register 3 Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0026H
0027H
Related Section: -
Communication
Default: 0
Control
Mode:
-
Unit: Range: 0 ~ 127
Data Size: 16bit
Format: DEC
Settings: Please refer to Chapter 7.2.1, Description of Monitor Variable for
the setting value.
P0-20
CM4A
Status Monitor Register 4 Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0028H
0029H
Related Section: -
Communication
Default: 0
8-24
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
-
Unit: Range: 0 ~ 127
Data Size: 16bit
Format: DEC
Settings: Please refer to Chapter 7.2.1, Description of Monitor Variable for
the setting value.
P0-21
CM5A
Status Monitor Register 5 Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 002AH
002BH
Related Section: -
Communication
Default: 0
Control
Mode:
-
Unit: Range: 0 ~ 127
Data Size: 16bit
Format: DEC
Settings: Please refer to Chapter 7.2.1, Description of Monitor Variable for
the setting value.
P0-22
Reserved
Address: 002CH
002DH
P0-23
Reserved
Address: 002EH
002FH
P0-24
Reserved
Address: 0030H
0031H
P0-25
MAP1
Mapping Parameter # 1
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0032H
0033H
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
April, 2013
8-25
ASDA-M
Chapter 8 Parameters
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-35
Data Size: 32bit
Format: HEX
Settings: Users can rapidly continuously read and write parameters that are
not in the same group. The content of parameter that is specified
by P0-35 will be shown in P0-25.
Please refer to the description of P0-35 for parameter setting.
P0-26
MAP2
Mapping Parameter # 2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0034H
0035H
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-36
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-36.
P0-27
MAP3
Mapping Parameter # 3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0036H
0037H
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: 8-26
April, 2013
Chapter 8 Parameters
ASDA-M
Range: determined by the corresponding
parameter of P0-37
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-37.
P0-28
MAP4
Mapping Parameter # 4
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0038H
0039H
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-38
Date Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-38.
P0-29
MAP5
Mapping Parameter # 5
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 003AH
003BH
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-39
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-39.
April, 2013
8-27
ASDA-M
P0-30
Chapter 8 Parameters
MAP6
Mapping Parameter # 6
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 003CH
003DH
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-40
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-40.
P0-31
MAP7
Mapping Parameter # 7
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 003EH
003FH
Related Section:
Section 4.3.5
Communication
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-41
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-41.
P0-32
MAP8
Mapping Parameter # 8
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
8-28
Address: 0040H
0041H
Related Section:
Section 4.3.5
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: No need to initialize
Control
Mode:
ALL
Unit: Range: determined by the corresponding
parameter of P0-42
Data Size: 32bit
Format: HEX
Settings: The using method is the same as P0-25. The mapping target is
set by parameter P0-42.
P0-33
Reserved
Address: 0042H
0043H
P0-34
Reserved
Address: 0044H
0045H
P0-35
Target Setting of Mapping Parameter Address: 0046H
P0-25
0047H
Parameter
Related Section:
Parameter for individual axis
Section 4.3.5
Attribute:
MAP1A
Operational
Panel / Software
Interface:
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
April, 2013
8-29
ASDA-M
Chapter 8 Parameters
Settings: Select the data block to access the parameter corresponded by
register 1.
The mapping content is 32 bits wide and can map to two 16-bit
parameters or one 32-bit parameter.
P0-35:
Mapping parameter: P0-35; Mapping content: P0-25.
When PH≠PL, it means the content of P0-25 includes two 16-bit
parameters.
VH=*(PH),VL=*(PL)
Mapping parameter: P0-35; Mapping content: P0-25.
When PH=PL=P, it means the content of P0-25 includes one
32-bit parameter.
If P=060Ah (parameter P6-10), then V32 is P6-10.
The setting format of PH, PL is:
A: The hexadecimal of parameter indexing
B: The hexadecimal of parameter group
For example:
If the mapping target is P2-06, set P0-35 to 0206.
If the mapping target is P5-42, set P0-35 to 052A.
For example:
If users desire to read / write P1-44 (32bit) through P0-25, set
P0-35 to 0x012C012C via panel or communication. Then, when
reading / writing P0-25, it also reads / writes P1-44.
Moreover, users can also access the value of P2-02 and P2-04
through P0-25.
P2-02 Position feed forward gain (16bit)
P2-04 Speed control gin (16bit)
Users only need to set P0-35 to 0x02040202. Then, when reading
/ writing P0-25, it also reads / writes the value of P2-02 and
P2-04.
8-30
April, 2013
Chapter 8 Parameters
P0-36
MAP2A
ASDA-M
Target Setting of Mapping Parameter
P0-26
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0048H
0049H
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
P0-37
MAP3A
Target Setting of Mapping Parameter
P0-27
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 004AH
004BH
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
April, 2013
8-31
ASDA-M
P0-38
Chapter 8 Parameters
MAP4A
Target Setting of Mapping Parameter
P0-28
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 004CH
004DH
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
P0-39
MAP5A
Target Setting of Mapping Parameter
P0-29
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 004EH
004FH
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
8-32
April, 2013
Chapter 8 Parameters
P0-40
MAP6A
ASDA-M
Target Setting of Mapping Parameter
P0-30
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0050H
0051H
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
P0-41
MAP7A
Target Setting of Mapping Parameter
P0-31
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0052H
0053H
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
April, 2013
8-33
ASDA-M
P0-42
Chapter 8 Parameters
MAP8A
Target Setting of Mapping Parameter
P0-32
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0054H
0055H
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: HEX
Settings: Same as parameter P0-35
P0-43
P0-44★
Address: 0056H
0057H
Reserved
PCMN
Status Monitor Register (for PC
software)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0058H
0059H
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unite: Range: determined by the communication
address of the parameter group
Data Size: 32bit
Format: DEC
Settings: Same as parameter P0-09
8-34
April, 2013
Chapter 8 Parameters
P0-45■
PCMNA
ASDA-M
Status Monitor Register Selection
(for PC software)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 005AH
005BH
Related Section:
Section 4.3.5
Communication
Default: 0x0
Control
Mode:
ALL
Unit: Range: 0~127
Data Size: 16bit
Format: DEC
Settings: Same as parameter P0-17
P0-46★
SVSTS
Servo Digital Output Status Display
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 005CH
005DH
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0x00 ~ 0xFF
Data Size: 16bit
Format: HEX
Settings: Bit0: SRDY (Servo is ready)
Bit1: SON (Servo ON)
Bit2: ZSPD (Zero speed detection)
Bit3: TSPD (Target speed reached)
Bit4: TPOS (Target position reached)
Bit5: TQL (Torque limit)
Bit6: ALRM (Servo alarm)
Bit7: BRKR (Mechancial control output)
April, 2013
8-35
ASDA-M
Chapter 8 Parameters
Bit8: HOME (Homing finished)
Bit9: OLW (Early warning for overload)
Bit10: WARN (When Servo warning, EMGS, under voltage,
communication error, etc, occurs, DO is ON)
Bit11: Reserved
Bit12: Reserved
Bit13: Reserved
Bit14: Reserved
Bit15: Reserved
8-36
P0-47
Reserved
Address: 005EH
005FH
P0-48
Reserved
Address: 0060H
0061H
P0-49
Reserved
Address: 0062H
0063H
P0-50
Reserved
Address: 0064H
0065H
P0-51
Reserved
Address: 0066H
0067H
P0-52
Reserved
Address: 0068H
0069H
P0-53
Reserved
Address: 006AH
006BH
P0-54
Reserved
Address: 006CH
006DH
P0-55
Reserved
Address: 006EH
006FH
P0-56
Reserved
Address: 0070H
0071H
P0-57
Reserved
Address: 0072H
0073H
April, 2013
Chapter 8 Parameters
P1-xx
ASDA-M
Basic Parameters
P1-00▲
PTT
The Type of External Pulse Input
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0100H
0101H
Related Section:
Section 6.2.1
Communication
Default: 0x2
Control
Mode:
PT
Unit: Range: 0 ~ 0x1142
Data Size: 16bit
Format: HEX
Settings:

Pulse Type
0: AB phase pulse (4x)
1: Clockwise (CW) and Counterclockwise (CCW) pulse
2: Pulse + symbol
Other setting: reserved
April, 2013
8-37
ASDA-M
Chapter 8 Parameters

Filter Width
If the received frequency is much higher than the setting, it will be
regarded as the noise and filtered out.
NOTE
Setting
Value
Low-speed filter
frequency
(Min. pulse width*note1)
Setting
Value
High-speed filter
frequency
(Min. pulse width*note1)
0
0.83Mpps (600ns)
0
3.33Mpps (150ns)
1
208Kpps (2.4us)
1
0.83Mpps (600ns)
2
104Kpps (4.8us)
2
416Kpps (1.2us)
3
52Kpps (9.6us)
3
208Kpps (2.4us)
4
No filter function
4
No filter function
When the source of external pulse is from the high-speed differential signal
and the setting value is 0 (the high-speed filter frequency is 3.33Mpps at the
moment), then:
If the user uses 2~4MHz input pulse, it is suggested to set the filter value to 4.
Note: When the signal is the high-speed pulse specification of 4 Mpps and the
settings value of the filter is 4, then pulse will not be filtered.
8-38
April, 2013
Chapter 8 Parameters

ASDA-M
Logic Type
Logic Pulse Type
Forward
Reverse
0
Positive Logic
AB phase
pulse
CW and
CCW pulse
Pulse +
Symbol
1
Negative Logic
AB phase
pulse
CW and
CCW pulse
Pulse +
Symbol
Pulse
Specification
High-speed
pulse
Low-speed
pulse
Differential
Signal
Differential
Signal
Opencollector
T1
T2
T3
T4
T5
T6
4Mpps
62.5ns
125ns
250ns
200ns
125ns
125ns
500Kpps
0.5μs
1μs
2μs
2μs
1μs
1μs
200Kpps
1.25μ
s
2.5μs
5μs
5μs
2.5μs
2.5μs
Max. Input
Frequency
Voltage
Specification
Forward Current
Differential Signal
4Mpps
5V
< 25mA
Differential Signal
500Kpps
2.8V ~ 3.7V
< 25mA
Opencollector
200Kpps
24V (Max.)
< 25mA
Pulse Specification
High-speed
pulse
Low-speed
pulse
April, 2013
Minimum time width
Max. Input
Frequency
8-39
ASDA-M

Chapter 8 Parameters
The Source of External Pulse:
0: Low-speed optical coupler (CN1 Pin: PULSE, SIGN)
1: High-speed differential (CN1 Pin: HPULSE, HSIGN)
P1-01●
CTL
Input Setting of Control Mode and
Control Command
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
interface:
Address: 0102H
0103H
Related Section:
Section 6.1
Table 8.1
Communication
Default: 0
Control
Mode:
ALL
Unit: P (Pulse); S (r/min); T (N-M)
Range: 00 ~ 0x110F
Data Size: 16bit
Format: HEX
Settings:
8-40
April, 2013
Chapter 8 Parameters
ASDA-M

Control Mode Settings
PT PR
S
T
Sz Tz
Mode
Single Mode
00
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
25B
26B
0E
0F
▲
▲
▲
▲
▲
▲
Dual Mode
▲
▲
▲
▲
▲ ▲
▲
▲
▲ ▲
CANopen Mode
Reserved
▲ ▲
Multiple Mode
▲ ▲ ▲
▲ ▲
▲
PT: Position Control Mode (The command source is external
pulse and analog voltage which can be selected via DI.
PTAS. Analog voltage can be used soon.)
PR: Position Control Mode (The command source is internal
signal which provides 99 positions and can be selected via
DI.POS0~POS5.It also provides various ways of Homing.)
S: Speed Control Mode (The command source is the external
analog voltage and register. It can be selected via DI. SPD0,
SPD1.)
T: Torque Control Mode (The command source is the external
analog voltage and register. It can be selected via DI. TCM0,
TCM1.)
Sz: Zero Speed / Internal Speed Command
Tz: Zero Torque / Internal Torque Command
April, 2013
8-41
ASDA-M
Chapter 8 Parameters

Dual Mode: It can switch mode via the external Digital Input
(DI). For example, if it is set to the dual mode of PT/S
(Control mode setting: 06), the mode can be switched via DI.
S-P (Please refer to table 8.1).

Multiple Mode: It can switch mode via the external Digital
Input (DI). For example, if it is set to multiple mode of
PT/PR/S (Control Mode Setting: 14), the mode can be
switched via DI. S-P, PT-PR (Please refer to table 8.1).

Torque Output Direction Settings
0
1
Forward
Reverse

Digital Input / Digital Output (DIO) Setting
0: When switching mode, DIO (P2-10 ~ P2-15, P2-18 ~
P2-20) remains the original setting value and will not be
changed.
1: When switching mode, DIO (P2-10 ~ P2-15, P2-18 ~
P2-20) can be reset to the default value of each
operational mode automatically.
P1-02▲
PSTL
Speed and Torque Limit Setting
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0104H
0105H
Related Section:
Section 6.6
Table 8.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 00 ~ 0x11
Data Size: 16bit
Format: HEX
8-42
April, 2013
Chapter 8 Parameters
ASDA-M
Settings:

X: Disable / enable speed limit function
0: Disable speed limit function
1: Enable speed limit function (it is effective in T mode only)
Other: Reserved
Block diagram of speed limit setting:
Vref
(0)
P1-09(1)
P1-10(2)
P1-11(3)
Speed Limit
Command
SPD0
SPD1

Y: Disable / enable torque limit function
0: Disable torque limit function
1: Enable torque limit function (it is effective in PT/PR/S
mode)
Other: Reserved
Block diagram of torque limit setting:
Tref
(0)
P1-12(1)
P1-13(2)
P1-14(3)
Torque Limit
Command
TCM0
TCM1
When desiring to use torque limit function, users could use
parameter to set Y = 1 and limit the torque for good. Thus,
the user can save one DI setting. Also, users could enable or
disable the limit function via DI.TRQLM, which is a more
flexible way but would need to take one DI setting. Torque
limit can be enabled by P1-02 or DI.
DI.TCM0 and DI.TCM1 are for selecting the limiting source.
April, 2013
8-43
ASDA-M
P1-03
Chapter 8 Parameters
AOUT
Polarity Setting of Encoder Pulse
Output
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0106H
0107H
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x13
Data Size: 16bit
Format: HEX
Settings:

Polarity of monitor analog output
0: MON1(+), MON2(+)
1: MON1(+), MON2(-)
2: MON1(-), MON2(+)
3: MON1(-), MON2(-)

Polarity of encoder pulse output
0: Forward output
1: Reverse output
P1-04
MON1
MON1 Analog Monitor Output
Proportion
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0108H
0109H
Related Section
Section 6.6.3
Communication
Default: 100
Control
Mode:
ALL
Unit: % (full scale)
8-44
April, 2013
Chapter 8 Parameters
ASDA-M
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: Please refer to parameter P0-03 for the setting of analog output
selection.
For example:
P0-03 = 0x1101 (MON1 is the motor speed analog output of X
axis)
When the output voltage value of MON1 is V1:
Motor speed
P1-05
MON2
Max. speed
V1
8
MON2 Analog Monitor Output
Proportion
04
Address: 0108H
0109H
Related Section:
Section 6.6.3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
X axis P1
100
Communication
Default: 100
Control
Mode:
ALL
Unit: % (full scale)
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: Please refer to parameter P0-03 for the setting of analog output
selection.
For example:
P0-03 = 0x 1110 (MON2 is the motor speed analog output of X
axis)
When the output voltage value of MON2 is V2:
Motor speed
April, 2013
Max. speed
V2
8
X axis P1
100
05
8-45
ASDA-M
P1-06
Chapter 8 Parameters
SFLT
Analog Speed Command (Low-pass
Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 010CH
010DH
Related Section:
Section 6.3.3
Communication
Default: 0
Control
Mode:
S
Unit: ms
Range: 0 ~ 1000 (0: disable this function)
Data Size: 16bit
Format: DEC
Settings: 0: Disabled
P1-07
TFLT
Analog Torque Command (Low-pass
Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 010EH
010FH
Related Section:
Section 6.4.3
Communication
Default: 0
Control
Mode:
T
Unit: ms
Range: 0 ~ 1000 (0: disable this function)
Data Size: 16bit
Format: DEC
Settings: 0: Disabled
P1-08
PFLT
Smooth Constant of Position
Command (Low-pass Filter)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0110H
0111H
Related Section:
Section 6.2.6
Communication
Default: 0
8-46
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PT/PR
Unit: 10 ms
Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
Example: 11 = 110 ms
Settings: 0: Disabled
P1-09
SP1
Internal Speed Command 1/Internal
Speed Limit 1
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0112H
0113H
Related Section:
Section 6.3.1
Communication
Default: 1000
Control
Mode:
S/T
Unit: 0.1r/min
Range: -60000 ~ +60000
Data Size: 32bit
Format: DEC
Example: Internal Speed Command: 120 = 12 r/min
Internal Speed Limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings: Internal Speed Command 1: The setting of the first internal speed
command
Internal Speed Limit 1: The setting of the first internal speed limit
Example of inputting internal speed limit:
Speed limit
setting
value of
P1-09
1000
-1000
April, 2013
Allowable
Speed
Range
-100 ~ 100
r/min
Forward
Speed Limit
Reverse
Speed Limit
100 r/min
-100 r/min
8-47
ASDA-M
P1-10
Chapter 8 Parameters
SP2
Internal Speed Command 2/Internal
Speed Limit 2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0114H
0115H
Related Section:
Section 6.3.1
Communication
Default: 2000
Control
Mode:
S/T
Unit: 0.1r/min
Range: -60000 ~ +60000
Data Size: 32bit
Format: DEC
Example: Internal Speed Command: 120 = 12 r/min
Internal Speed Limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings: Internal Speed Command 2: The setting of the second internal
speed command
Internal Speed Limit 2: The setting of the second internal speed
limit
Example of inputting internal speed limit:
Speed limit
setting
value of
P1-10
Allowable
Speed
Range
1000
-1000
P1-11
SP3
-100 ~ 100
r/min
Forward
Speed Limit
Reverse
Speed Limit
100 r/min
-100 r/min
Internal Speed Command 3/Internal
Speed Limit 3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0116H
0117H
Related Section:
Section 6.3.1
Communication
Default: 3000
Control
Mode:
S/T
Unit: 0.1r/min
8-48
April, 2013
Chapter 8 Parameters
ASDA-M
Range: -60000 ~ +60000
Data Size: 32bit
Format: DEC
Example: Internal Speed Command: 120 = 12 r/min
Internal Speed limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings: Internal Speed Command 3: The setting of the third internal
speed command
Internal Speed Limit 3: The setting of the third internal speed limit
Example of inputting internal speed limit:
Speed limit
setting
value of
P1-11
Allowable
Speed
Range
1000
-1000
P1-12
TQ1
-100 ~ 100
r/min
Forward
Speed Limit
Reverse
Speed Limit
100 r/min
-100 r/min
Internal Torque Command 1/Internal
Torque Limit 1
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0118H
0119H
Related Section:
Section 6.4.1
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: -300 ~ +300
Data Size: 16bit
Format: DEC
Example: Internal Torque Command: 30 = 30 %
Internal Torque Limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings:Internal Torque Command 1: The setting of the first internal
torque command
Internal Torque Limit 1: The setting of the first internal torque limit
April, 2013
8-49
ASDA-M
Chapter 8 Parameters
Example of inputting internal torque limit:
Torque limit Allowable
setting
Speed
value of
Range
P1-12
30
-30
P1-13
TQ2
-30 ~ 30 %
Forward
Torque Limit
30 %
Internal Torque Command 2/Internal
Torque Limit 2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Reverse
Torque Limit
-30 %
Address: 011AH
011BH
Related Section
Section 6.4.1
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: -300 ~ +300
Data Size: 16bit
Format: DEC
Example: Internal Torque Command: 30 = 30 %
Internal Torque Limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings: Internal Torque Command 2: The setting of the second internal
torque command
Internal Torque Limit 2: The setting of the second internal torque
limit
Example of inputting internal torque limit:
Torque limit Allowable
setting
Speed
value of
Range
P1-13
30
-30
8-50
-30 ~ 30 %
Forward
Torque Limit
30 %
Reverse
Torque Limit
-30 %
April, 2013
Chapter 8 Parameters
P1-14
TQ3
ASDA-M
Internal Torque Command 3/Internal
Torque Limit 3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 011CH
011DH
Related Section:
Section 6.4.1
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: -300 ~ +300
Data Size: 16bit
Format: DEC
Example: Internal Torque Command: 30 = 30 %
Internal Torque Limit: Positive value and
negative value is the same. Please refer
to the following description.
Settings: Internal Torque Command 3: The setting of the third internal
torque command
Internal Torque Limit 3: The setting of the third internal torque limit
Example of inputting internal torque limit:
Torque limit Allowable
setting
Speed
value of
Range
P1-13
30
-30
-30 ~ 30 %
Forward
Torque Limit
30 %
Reverse
Torque Limit
-30 %
P1-15
Reserved
Address: 011EH
011FH
P1-16
Reserved
Address: 0120H
0121H
P1-17
Reserved
Address: 0122H
0123H
P1-18
Reserved
Address: 0124H
0125H
P1-19
Reserved
Address: 0126H
0127H
April, 2013
8-51
ASDA-M
Chapter 8 Parameters
P1-20
Reserved
Address: 0128H
0129H
P1-21
Reserved
Address: 012AH
012BH
P1-22
Reserved
Address: 012CH
012DH
P1-23
Reserved
Address: 012EH
012FH
P1-24
Reserved
Address: 0130H
0131H
P1-25
Low-frequency Vibration Suppression Address: 0132H
(1)
0133H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSF1
Operational
Panel / Software
Interface:
Communication
Default: 1000
Control
Mode:
PT / PR
Unit: 0.1 Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
Example: 150= 15 Hz
Settings: The setting value of the first low-frequency vibration suppression.
If P1-26 is set to 0, then it will disable the first low-frequency filter.
P1-26
Low-frequency Vibration Suppression Address: 0134H
Gain (1)
0135H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSG1
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
8-52
PT / PR
April, 2013
Chapter 8 Parameters
ASDA-M
Unit: Range: 0 ~ 9 (0: Disable the first low-frequency
filter)
Data Size: 16bit
Format: DEC
Settings: The first low-frequency vibration suppression gain. The bigger
value it is, the better the position response will be. However, if the
value is set too big, the motor will not be able to smoothly
operate. It is suggested to set the value to 1.
P1-27
Low-frequency Vibration Suppression Address: 0136H
(2)
0137H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSF2
Operational
Panel / Software
Interface:
Communication
Default: 1000
Control
Mode:
PT / PR
Unit: 0.1 Hz
Range: 10 ~ 1000
Data Size: 16bit
Format: DEC
Example: 150 = 15 Hz
Settings: The setting value of the second low-frequency vibration
suppression. If P1-28 is set to 0, then it will disable the second
low-frequency filter.
P1-28
Low-frequency Vibration Suppression Address: 0138H
Gain (2)
0139H
Parameter
Related Section:
Parameter for individual axis
Section 6.2.9
Attribute:
VSG2
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PT / PR
Unit: April, 2013
8-53
ASDA-M
Chapter 8 Parameters
Range: 0 ~ 9 (0: Disable the second
low-frequency filter)
Data Size: 16bit
Format: DEC
Settings: The second low-frequency vibration suppression gain. The bigger
value it is, the better the position response will be. However, if the
value is set too big, the motor will not be able to smoothly
operate. It is suggested to set the value to 1.
P1-29
AVSM
Auto
Low-frequency
Supression Setting
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Vibration Address: 013AH
013BH
Related Section:
Section 6.2.9
Communication
Default: 0
Control
Mode:
PT / PR
Unit: Range: 0 ~ 1
Data Size: 16bit
Format: DEC
Settings: 0: The function is disabled.
1: The value will set back to 0 after vibration suppression.
Description of Auto Mode Setting:
When the parameter is set to 1, it is in auto suppression. When
the vibration frequency is not being detected or the value of
searched frequency is stable, the parameter will set to 0 and save
the low-frequency vibration suppression to P1-25 automatically.
P1-30
VCL
Low-frequency Vibration Detection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 013CH
013DH
Related Section:
Section 6.2.9
Communication
Default: 500
Control
Mode:
8-54
PT / PR
April, 2013
Chapter 8 Parameters
ASDA-M
Unit: Pulse
Range: 1 ~ 8000
Data Size: 16bit
Format: DEC
Settings: When enabling the auto suppression (P1-29 = 1), it will
automatically search the detection level. The lower the value is,
the more sensitive the detection will be. However, it is easy to
misjudge the noise or regard the other low-frequency vibration as
the suppression frequency. If the value is bigger, it will make more
precise judgment. However, if the vibration of the mechanism is
smaller, it might not detect the frequency of low-frequency
vibration.
P1-31
P1-32
Address: 013EH
013FH
Reserved
LSTP
Motor Stop Mode
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0140H
0141H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x20
Data Size: 16bit
Format: HEX
April, 2013
8-55
ASDA-M
Chapter 8 Parameters
Settings:

Selection of executing dynamic brake: Stop Mode when
Servo Off or Alarm (including EMGS) occurs.
0: Execute dynamic brake
1: Motor free run
2: Execute dynamic brake first, then execute free run until it
stops (The motor speed is slower than P1-38).
When Pl and NL occur, please refer to event time setting value of
P5-03 for determining the deceleration time. If the setting is 1 ms,
it can stop instantaneously.
P1-33
P1-34
Address: 0142H
0143H
Reserved
TACC
Acceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0144H
0145H
Related Section:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Acceleration Constant:
P1-34, P1-35 and P1-36, the acceleration time of speed
command from zero to the rated speed, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
8-56
April, 2013
Chapter 8 Parameters
ASDA-M
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-34 will be set within 20000 automatically.
P1-35
TDEC
Deceleration Constant of S-Curve
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0146H
0147H
Related Sections:
Section 6.3.3
Communication
Default: 200
Control
Mode:
S
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Deceleration Constant:
P1-34, P1-35 and P1-36, the deceleration time of speed
command from the rated speed to zero, all can be set individually.
Even when P1-36 is set to 0, it still has acceleration / deceleration
of trapezoid-curve.
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-35 will be set within 20000 automatically.
P1-36
Acceleration / Deceleration Constant of Address: 0148H
S-Curve
0149H
Parameter
Related Section:
Parameter for individual axis
Section 6.3.3
Attribute:
TSL
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
S,PR
Unit: ms
Range: 0 ~ 65500 (0:disable this function)
April, 2013
8-57
ASDA-M
Chapter 8 Parameters
Data Size: 16bit
Format: DEC
Settings: Acceleration / Deceleration Constant of S-Curve:
P1-34: Set the acceleration time of acceleration / deceleration of
trapezoid-curve
P1-35: Set the deceleration time of acceleration / deceleration of
trapezoid-curve
P1-36: Set the smoothing time of S-curve acceleration and
deceleration
P1-34, P1-35 and P1-36 can be set individually. Even when
P1-36 is set to 0, it still has acceleration / deceleration of
trapezoid-curve.
NOTE 1) When the source of speed command is analog, and P1-36 is
set to 0, it will disable S-curve function.
2) When the source of speed command is analog, the max. range
of P1-36 will be set within 10000 automatically.
P1-37
Inertia Ratio and Load Weight Ratio to Address: 014AH
Servo Motor
014BH
Parameter
Related Section: Parameter for individual axis
Attribute:
GDR
Operational
Panel / Software
Interface:
Default: 1.0
Communication
10
Control
Mode:
ALL
Unit: 1 times
Range: 0.0 ~ 200.0
0.1 times
0 ~ 2000
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 times
8-58
DEC
15 = 1.5 times
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Inertia ratio to servo motor (rotary motor):
(J_load/J_motor)
Among them:
J_motor: rotor inertia of the servo motor
J_load: Total equivalent of inertia of external mechanical load.
Load weight ratio to servo motor (linear motor) (*it will be
available soon):
(M_load/M_motor)
Among them:
M_motor: the weight of the servo motor
M_load: Total equivalent weight of mechanical loading
P1-38
ZSPD
Zero Speed Range Setting
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 10.0
Address: 014CH
014DH
Related Section:
Table 8.2
Communication
100
Control
Mode:
ALL
Unit: 1 r/min
Range: 0.0 ~ 200.0
0.1 r/min
0 ~ 2000
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 r/min
DEC
15 = 1.5 r/min
Settings: Setting the output range of zero-speed signal (ZSPD). When the
forward / reverse speed of the motor is slower than the setting
value, the digital output will be enabled.
P1-39
SSPD
Target Motor Detection Level
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 014EH
014FH
Related Section:
Table 8.2
Communication
Default: 3000
April, 2013
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ASDA-M
Chapter 8 Parameters
Control
Mode:
ALL
Unit: r/min
Range: 0 ~ 5000
Data Size: 16bit
Format: DEC
Settings: When the target speed is reached, DO (TSPD) is enabled. It
means when the motor speed in forward / reverse direction is
higher than the setting value, the target speed is reached and
enables DO.
P1-40▲
Maximum Speed of Analog Speed Address: 0150H
Command
0151H
Related Section:
Parameter
Parameter for individual axis
Section 6.3.4
Attribute:
VCM
Operational
Panel / Software
Interface:
Communication
Default: Same as the rated speed of each model
Control
Mode:
S/T
Unit: r/min
Range: 0 ~ 50000
Data Size: 16bit
Format: DEC
Settings: Maximum Speed of Analog Speed Command:
In speed mode, the analog speed command inputs the swing
speed setting of the max. voltage (10V). For example, if the
setting is 3000, when the external voltage input is 10V, it means
the speed control command is 3000r/min. If the external voltage
input is 5V, then the speed control command is 1500r/min.
Speed control command = input voltage value x setting value/10
In position or torque mode, analog speed limit inputs the swing
speed limit setting of the max. voltage (10V).
Speed limit command = input voltage value x setting value/10
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April, 2013
Chapter 8 Parameters
P1-41▲
ASDA-M
Maximum Output of Analog Torque Address: 0152H
Speed
0153H
Parameter
Related Section:
Parameter for individual axis
Section 6.4.4
Attribute:
TCM
Operational
Panel / Software
Interface:
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
Settings: Maximum Output of Analog Torque Speed:
In torque mode, the analog torque command inputs the torque
setting of the max. voltage (10V). When the default setting is 100,
if the external voltage inputs 10V, it means the torque control
command is 100% rated torque. If the external voltage inputs 5V,
then the torque control command is 50% rated torque.
Torque control command = input voltage value x setting value/
10 (%)
In speed, PT and PR mode, the analog torque limit inputs the
torque limit setting of the max. voltage (10V).
Torque limit command = input voltage value x setting value/10
(%)
P1-42
MBT1
Enable Delay Time of Mechanical Brake
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0154H
0155H
Related Section:
Section 6.6.4
Communication
Default: 0
Control
Mode:
ALL
Unit: ms
Range: 0 ~ 1000
Data Size: 16bit
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Chapter 8 Parameters
Format: DEC
Settings: Set the delay time from servo ON to activate the signal of
mechanical brake (BRKR).
P1-43
Disable Delay Time of Mechanical Address: 0156H
Brake
0157H
Related Section:
Parameter
Parameter for individual axis
Section 6.6.4
Attribute:
MBT2
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: ms
Range: -1000 ~ 1000
Data Size: 16bit
Format: DEC
Settings: Set the delay time from servo OFF to switch off the signal of
mechanical brake (BRKR).
NOTE 1) If the delay time of P1-43 has not finished yet and the motor
speed is slower than P1-38, the signal of mechanical brake
(BRKR) will be disabled.
2) If the delay time of P1-43 is up and the motor speed is higher
than P1-38, the signal of mechanical brake (BRKR) will be
disabled.
3) When Servo OFF due to Alarm (except AL022) or emergency,
the setting of P1-43 is equivalent to 0 if P1-43 is set to a
negative value.
P1-44▲
GR1
Gear Ratio (Numerator) (N1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
8-62
Address: 0158H
0159H
Related Section:
Section 6.2.5
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: 128
Control
Mode:
PT/PR
Unit: Pulse
Range: 1 ~(229-1)
Data Size: 32bit
Format: DEC
Settings: Please refer to P2-60~P2-62 for the setting of multiple gear ratio
(numerator).
NOTE 1) In PT mode, the setting value can be changed when Servo ON.
2) In PR mode, the setting value can be changed when Servo
OFF.
P1-45
GR2
Address: 015AH
015BH
Related Section:
Section 6.2.5
Gear Ratio (Denominator) (M)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 10
Control
Mode:
PT/PR
Unit: Pulse
Range: 1 ~(231-1)
Data Size: 32bit
Format: DEC
Settings: If the setting is wrong, the servo motor will easily have sudden
unintended acceleration.
Please follow the rules for setting:
The setting of pulse input:
Pulse
input
N
Position
command
N
f2 = f1 x
f1
M
f2
M
Range of command pulse input : 1/50<Nx/M<25600
NOTE 1) The setting value cannot be changed when Servo ON neither
in PT nor in PR mode.
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P1-46▲
Chapter 8 Parameters
GR3
Pulse Number of Encoder Output
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 015CH
015DH
Related Section: -
Communication
Default: 2500
Control
Mode:
ALL
Unit: Pulse
Range: 20 ~ 320000
Data Size: 32bit
Format: DEC
Settings: The number of pulse output per revolution.
NOTE The following circumstances might exceed the max. allowable
input pulse frequency and occurs AL018:
1. Abnormal encoder
2. The motor speed is faster than the setting of P1-76.
Motor Speed
3.
 P1  46  4  19.8  10 6
60
P1-47
SPOK
Speed Reached (DO:SP_OK) Range
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 015EH
015FH
Related Section: -
Communication
Default: 10
Control
Mode:
S / Sz
Unit: r/min
Range: 0 ~ 300
Data Size: 16bit
Format: DEC
Settings: When the deviation between speed command and motor
feedback speed is smaller than this parameter, then the digital
output DO.SP_OK(DO code is 0x19)is ON.
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Chapter 8 Parameters
ASDA-M
Block diagram:
1.
2.
3.
4.
P1-48
Speed command: It is the command issued by the user (without
acceleration / deceleration), not the one of front end speed circuit.
Source: Analog voltage and register
Feedback speed: The actual speed of the motor and have gone through
the filter.
Obtain the absolute value.
DO.SP_OK will be ON when the absolute value of speed error is smaller
than P1-47, or it will be OFF. If P1-47 is 0, DO.SP_OK is always OFF.
MCOK
Operation Selection of Motion Reached Address: 0160H
(DO:MC_OK)
0161H
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Related Section: -
Communication
Default: 0x0000
Control
Mode:
PR
Unit: Range: 0x0000 ~ 0x0011
Data Size: 16bit
Format: HEX
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Chapter 8 Parameters
Settings: Control selection of digital output DO.MC_OK (DO code is 0x17).
The format of this parameter: 00YX
X=0: It will not remain the digital output status
1: It will remain the digital output status
Y=0: Alarm, AL380 (position deviation) is not
working
1: Alarm, AL380 (position deviation) is
working
Block diagram:
Description:
1. Command triggered: It means the new PR command is effective.
Position command starts to output and clear signal
2, 4, 5, 6 at the same time.
2. CMD_OK: It means the position command is completely outputted and
can set the delay time (DLY).
3. Command output: Output the profile of position command according to
the setting acceleration / deceleration.
4. TPOS: It means the position error of the servo drive is smaller than the
value of P1-54.
5. MC_OK: It means the position command is completely outputted and the
position error of the servo drive is smaller than P1-54.
MC_OK (remains the digital output status): It is the same as 5.
However, once this DO is ON, its status will be remained
regardless signal 4 is OFF or not.
7. The output profile is determined by parameter P1-48.X.
8. Position Deviation: When number 7 happens, if 4 (or 5) is OFF, it means
the position is deviated and AL380 can be triggered.
Set this alarm via parameter P1-48.Y.
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Chapter 8 Parameters
ASDA-M
P1-49
Reserved
Address: 0162H
0163H
P1-50
Reserved
Address: 0164H
0165H
P1-51
Reserved
Address: 0166H
0167H
P1-52
RES1
Regenerative Resistor Value
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0168H
0169H
Related Section:
Section 2.7
Communication
Default: Determined by the model. Please refer to
the following table.
Control
ALL
Mode:
Unit: Ohm
Range: 10 ~ 750
Data Size: 16bit
Format: DEC
Settings:
P1-53
RES2
Model
Default
1.5kW (included)
or below
40Ω
2kW
20Ω
Regenerative Resistor Capacity
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 016AH
016BH
Related Section:
Section 2.7
Communication
Default: Determined by the model. Please refer to
the following table.
Control
ALL
Mode:
Unit: Watt
Range: 0 ~ 3000
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Chapter 8 Parameters
Data Size: 16bit
Format: DEC
Model
Default
1.5kW (included)
or below
60W
2kW
100W
Settings:
P1-54
PER
Position Completed Range
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 016CH
016DH
Related Section:
Table 8.2
Communication
Default: 12800
Control
Mode:
PT/PR
Unit: Pulse
Range: 0 ~ 1280000
Data Size: 32bit
Format: DEC
Settings: In position mode (PT), if the deviation pulse number is smaller
than the setting range (the setting value of parameter P1-54),
DO.TPOS is ON.
In position register (PR) mode, if the deviation between the target
position and the actual motor position is smaller than the setting
range (the setting value of parameter P1-54), DO.TPOS is ON.
P1-55
MSPD
Maximum Speed Limit
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 016EH
016FH
Related Section: -
Communication
Default: Same as the rated speed of each model
Control
Mode:
ALL
Unit: r/min
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Chapter 8 Parameters
ASDA-M
Range: 0 ~ max. speed
Data Size: 16bit
Format: DEC
Settings: The default of the max. speed of servo motor is set to the rated
speed.
P1-56
OVW
Output Overload Warning Level
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0170H
0171H
Related Section: -
Communication
Default: 120
Control
Mode:
ALL
Unit: %
Range: 0 ~ 120
Data Size: 16bit
Format: DEC
Settings: The setting value is 0 ~ 100, if the servo motor continuously
outputs the load and is higher than the setting proportion (P1-56),
the early warning for overload (DO is set to 10, OLW) will occur.
If the setting value is over 100, it will disable this function.
P1-57
Reserved
Address: 0172H
0173H
P1-58
Reserved
Address: 0174H
0175H
P1-59
MFLT
Analog Speed Command
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 0.0
Address: 0176H
0177H
Related Section: -
Communication
0
Control
Mode:
April, 2013
S
8-69
ASDA-M
Chapter 8 Parameters
Unit: 1 ms
0.1 ms
Range: 0.0 ~ 4.0
0 ~ 40
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 ms
DEC
15 = 1.5 ms
Settings: (Moving Filter)
0: Disabled
P1-06 is low-pass filter and P1-59 is moving filter. The difference
between both is that moving filter can smooth the command in the
beginning and end of the step command; while the low-pass filter
brings better smooth effect to command end.
Therefore, it is suggested that if the speed loop receives the
command from the controller for forming the position control loop,
then low-pass filter can be used. If it is only for the speed control,
then it should use Moving Filter for better smoothing.
8-70
P1-60
Reserved
Address: 0178H
0179H
P1-61
Reserved
Address: 017AH
017BH
P1-62
Reserved
Address: 017CH
017DH
P1-63
Reserved
Address: 017EH
017FH
P1-64
Reserved
Address: 0180H
0181H
P1-65
Reserved
Address: 0182H
0183H
April, 2013
Chapter 8 Parameters
ASDA-M
P1-66
Reserved
Address: 0184H
0185H
P1-67
Reserved
Address: 0186H
0187H
P1-68
PFLT2
Address: 0188H
0189H
Related Section: -
Position Command Moving Filter
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 4
Control
Mode:
PT/PR
Unit: ms
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: 0: Disabled
Moving Filter can activate smooth function
in the beginning and the end of step
command, but will delay the command.
P1-69
Reserved
Address: 018AH
018BH
P1-70
Reserved
Address: 018CH
018DH
P1-71
Reserved
Address: 018EH
018FH
P1-72
Reserved
Address: 0190H
0191H
April, 2013
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Chapter 8 Parameters
P1-73
Reserved
Address: 0192H
0193H
P1-74
Reserved
Address: 0194H
0195H
P1-75
Reserved
Address: 0196H
0197H
P1-76
Maximum Rotation of Encoder Output Address: 0198H
Setting (OA, OB)
0199H
Related
Section:
Parameter
Parameter for individual axis
P1-46
Attribute:
AMSPD
Operational
Panel / Software
Interface:
Communication
Default: 5500
Control
Mode:
ALL
Unit: r/min
Range: 0 ~ 6000
Data Size: 16bit
Format: DEC
Settings: According to the real application, this parameter is set for the
maximum speed and the servo drive will generate smooth
function automatically for encoder output signals.
When the value is set to 0, the function is disabled.
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April, 2013
Chapter 8 Parameters
P2-xx
P2-00
ASDA-M
Extension Parameters
KPP
Position Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0200H
0201H
Related Section:
Section 6.2.8
Communication
Default: 35
Control
Mode:
PT/PR
Unit: rad/s
Range: 0 ~ 2047
Data Size: 16bit
Format: DEC
Settings: When the value of position loop gain is increased, the position
response can be enhanced and the position error can be
reduced. If the value is set too big, it may easily cause vibration
and noise.
P2-01
PPR
Switching Rate of Position Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0202H
0203H
Related Section:
Section 6.2.8
Communication
Default: 100
Control
Mode:
PT/PR
Unit: %
Range: 10 ~ 500
Data Size: 16bit
Format: DEC
Settings: Switch the changing rate of position loop gain according to the
gain-switching condition.
April, 2013
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ASDA-M
P2-02
Chapter 8 Parameters
PFG
Position Feed Forward Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0204H
0205H
Related Section:
Section 6.2.8
Communication
Default: 50
Control
Mode:
PT/PR
Unit: %
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: If the position command is changed smoothly, increasing the gain
value can reduce the position error.
If the position command is not changed smoothly, decreasing the
gain value can tackle the problem of mechanical vibration.
P2-03
PFF
Smooth Constant of Position Feed
Forward Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0206H
0207H
Related Section: -
Communication
Default: 5
Control
Mode:
PT/PR
Unit: ms
Range: 2 ~ 100
Data Size: 16bit
Format: DEC
Settings: If the position command is changed smoothly, decreasing the
value can reduce the position error. If the position command is not
changed smoothly, increasing the value can tackle the problem of
mechanical vibration.
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Chapter 8 Parameters
P2-04
KVP
ASDA-M
Speed Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0208H
0209H
Related Section:
Section 6.3.6
Communication
Default: 500
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16bit
Format: DEC
Settings: Increase the value of speed loop gain can enhance the speed
response. However, if the value is set too big, it would easily
cause resonance and noise.
P2-05
SPR
Switching Rate of Speed Loop Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 020AH
020BH
Related Section: -
Communication
Default: 100
Control
Mode:
ALL
Unit: %
Range: 10 ~ 500
Data Size: 16bit
Format: DEC
Settings: Switch the changing rate of speed loop gain according to the gain
switching condition.
April, 2013
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ASDA-M
P2-06
Chapter 8 Parameters
KVI
Speed Integral Compensation
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 020CH
020DH
Related Section:
Section 6.3.6
Communication
Default: 100
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16bit
Format: DEC
Settings: Increasing the value of speed integral compensation can enhance
speed response and diminish the deviation of speed control.
However, if the value is set too big, it would easily cause
resonance and noise.
P2-07
KVF
Speed Feed Forward Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 020EH
020FH
Related Section:
Section 6.3.6
Communication
Default: 0
Control
Mode:
ALL
Unit: %
Range: 0 ~ 100
Data Size: 16bit
Format: DEC
Settings: When the speed control command runs smoothly, increasing the
gain value can reduce the speed command error. If the command
does not run smoothly, decreasing the gain value can reduce the
mechanical vibration during operation.
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April, 2013
Chapter 8 Parameters
P2-08■
PCTL
ASDA-M
Address: 0210H
0211H
Related Section: -
Special Parameter Write-in
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 65535
Data Size: 16bit
Format: DEC
Settings: Special parameter write-in:
Parameter
code
10
11
DRT
Reset the parameter for individual axis (Apply
to the power again after reset)
Reset the parameter for three axes (Apply to
the power again after reset)
20
P4-10 is writable
22
P4-11~P4-19 are writable
30,35
P2-09
Function
Save the data of COMPARE, CAPTURE,
E-Cam
DI Debouncing Time
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0212H
0213H
Related Section: -
Communication
Default: 2
Control
Mode:
ALL
Unit: 2ms
Range: 0 ~ 20
Data Size: 16bit
Format: DEC
April, 2013
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ASDA-M
Chapter 8 Parameters
Example: 4 = 8 ms
Settings: When the environmental noise is big, increasing the setting value
can enhance the control stability. However, if the value is set too
big, the response time will be influenced.
P2-10
DI1
DI1 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0214H
0215H
Related Section:
Table 8.1
Communication
Default: 101
Control
Mode:
ALL
Unit: Range: 0 ~ 0x315F (the last two codes are DI
code)
Data Size: 16bit
Format: HEX
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April, 2013
Chapter 8 Parameters
ASDA-M
Settings:


Input function selection: Please refer to table 8.1
Input contact: a or b contact
0: Set the input contact as normally closed (b contact)
1: Set the input contact as normally closed (a contact)
(P2-10 ~ P2-15) The setting value of function programmed
 Axis selection: select the corresponding axis of DI
0: Set the axis to 0, this DI function is shared by three axes.
1: Set the axis to 1, this DI function is for X axis.
2: Set the axis to 2, this DI function is for Y axis.
3: Set the axis to 3, this DI function is for Z axis.
When parameters are modified, please re-start the servo drive to
ensure it can work normally.
Note: Parameter P3-06 is used to set how digital inputs (DI)
accepts commands, through external terminal or the
communication which determined by P4-07.
NOTE 1) DI shared by three axes provides three functions:
a. SON-Servo On. The setting value is 0101 for a contact and
0001 for b contact.
b. ARST-Alarm reset. The setting value is 0102 for a contact
and 0002 for b contact.
c. EMGS-Emergency stop. The setting value is 0103 for a
contact and 0003 for b contact. This DI function is shared
by three axes.
2) When switching mode, if resetting the setting value of DI /DO,
the axis selection will return to its default.
P2-11
DI2
DI2 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0216H
0217H
Related Section:
Table 8.1
Communication
Default: 104
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Chapter 8 Parameters
Control
Mode:
ALL
Unit: Range: 0 ~ 0x015F (the last two codes are DI
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-10
P2-12
DI3
DI3 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0218H
0219H
Related Section:
Table 8.1
Communication
Default: 116
Control
Mode:
ALL
Unit: Range: 0 ~ 0x015F (the last two codes are DI
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-10
P2-13
DI4
DI4 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 021AH
021BH
Related Section:
Table 8.1
Communication
Default: 117
Control
Mode:
ALL
Unit: Range: 0 ~ 0x015F (the last two codes are DI
code)
Data Size: 16bit
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April, 2013
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ASDA-M
Format: HEX
Settings: Please refer to the description of P2-10
P2-14
DI5
DI5 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 021CH
021DH
Related Section:
Table 8.1
Communication
Default: 102
Control
Mode:
ALL
Unit: Range: 0 ~ 0x015F (the last two codes are DI
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-10
P2-15
DI6
DI6 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 021EH
021FH
Related Section:
Table 8.1
Communication
Default: 21
Control
Mode:
ALL
Unit: Range: 0 ~ 0x015F (the last two codes are DI
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-10
P2-16
April, 2013
Reserved
Address: 0220H
0221H
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ASDA-M
P2-17
P2-18
Chapter 8 Parameters
Address: 0222H
0223H
Reserved
DO1
DO1 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0224H
0225H
Related Section:
Table 8.2
Communication
Default: 101
Control
Mode:
ALL
Unit: Range: 0 ~ 0x313F (the last two codes are DO
code)
Data Size: 16bit
Format: HEX
Settings:


Output function selection: Please refer to table 8.2
Output contact: a or b contact
0: Set the output contact as normally closed (b contact)
1: Set the output contact as normally closed (a contact)
(P2-18 ~ P2-20) The setting value of function programmed
 Axis selection: select the corresponding axis of DO
1: Set the axis to 1, this DO function is for X axis.
2: Set the axis to 2, this DO function is for Y axis.
3: Set the axis to 3, this DO function is for Z axis.
When parameters are modified, please re-start the servo drive to
ensure it can work normally.
NOTE 1. When switching mode, if resetting the setting value of DI /DO,
the axis selection will return to its default.
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Chapter 8 Parameters
P2-19
DO2
ASDA-M
DO2 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0226H
0227H
Related Section:
Table 8.2
Communication
Default: 103
Control
Mode:
ALL
Unit: Range: 0 ~ 0x013F (the last two codes are DO
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-18
P2-20
DO3
DO3 Functional Planning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0228H
0229H
Related Section:
Table 8.2
Communication
Default: 7
Control
Mode:
ALL
Unit: Range: 0 ~ 0x013F (the last two codes are DO
code)
Data Size: 16bit
Format: HEX
Settings: Please refer to the description of P2-18
P2-21
Reserved
Address: 022AH
022BH
P2-22
Reserved
Address: 022CH
022DH
April, 2013
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P2-23
Chapter 8 Parameters
NCF1
Resonance Suppression (Notch filter)
(1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 022EH
022FH
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
ALL
Unit: Hz
Range: 50 ~ 1000
Data Size: 16bit
Format: DEC
Settings: The first setting value of resonance frequency. If P2-24 is set to 0,
this function is disabled. P2-43 and P2-44 are the second Notch
filter.
P2-24
DPH1
Resonance Suppression (Notch filter)
Attenuation Rate (1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0230H
0231H
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: disable the function of Notch
filter)
Data Size: 16bit
Format: DEC
Settings: The first resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is
disabled.
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April, 2013
Chapter 8 Parameters
P2-25
NLP
ASDA-M
Low-pass Filter of Resonance
Suppression
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 0.2 (under 1kW) or
0.5 (other model)
Control
ALL
Mode:
Unit: 1 ms
Range: 0.0 ~ 100.0
Address: 0232H
0233H
Related Section:
Section 6.3.7
Communication
2 (under 1kW) or
5 (other model)
0.1 ms
0 ~ 1000
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 ms
DEC
15 = 1.5 ms
Settings: Set the low-pass filter of resonance suppression. When the value
is set to 0, the function of low-pass filter is disabled.
P2-26
DST
Anti-interference Gain
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0234H
0235H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: 1
Range: 0 ~ 1023 (0: disable this function)
Data Size: 16bit
Format: DEC
April, 2013
8-85
ASDA-M
Chapter 8 Parameters
Settings: Increasing the value of this parameter can increase the damping
of speed loop. It is suggested to set P2-26 equals to the value of
P2-26. If users desire to adjust P2-26, please follow the rules
below.
1. In speed mode, incrase the value of this parameter can
reduce speed overshoot.
2. In position mode, decrease the value of this parameter can
reduce position overshoot.
P2-27
GCC
Gain Switching and Switching Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0236H
0237H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x4
Data Size:16bit
Format: HEX
Settings:
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April, 2013
Chapter 8 Parameters
ASDA-M

Gain switching condition:
0: Disable gain switching function.
1: The signal of gain switching (GAINUP) is ON.
2: In position control mode, the position error is bigger than
the value of P2-29.
3: The frequency of position command is bigger than the
value of P2-29.
4: When the speed of servo motor is faster than the value of
P2-29.
5: The signal of gain switching (GAINUP) is OFF.
6: In position control mode, the position error is smaller than
the value of P2-29.
7: When the frequency of position command is smaller than
the value of P2-29.
8: When the speed of servo motor is slower than the value of
P2-29.

Gain switching method:
0: Gain switching
1: Integrator switching, P -> PI
Setting
Control Mode P Control Mode S
Value
P2-00 x 100%
P2-04 x 100%
P2-04 x 100%
0
P2-00 x P2-01
P2-04 x P2-05
P2-04 x P2-05
P2-06 x 0%
P2-26 x 0%
1
P2-06 x 100%
P2-26 x 100%
P2-28
GUT
Gain Switching Time Constant
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Before
switching
After
switching
Before
switching
After
switching
Address: 0238H
0239H
Related Section: -
Communication
Default: 10
Control
Mode:
ALL
Unit: 10ms
Range: 0 ~ 1000
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ASDA-M
Chapter 8 Parameters
Data Size: 16bit
Format: DEC
Example: 15 = 150 ms
Settings: It is for switching the smooth gain. (0: disable this function)
P2-29
GPE
Gain Switching
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 023AH
023BH
Related Section: -
Communication
Default: 1280000
Control
Mode:
ALL
Unit: Pulse, Kpps, r/min
Range: 0 ~ 3840000
Data Size: 32bit
Format: DEC
Settings: The setting of gain switching (Pulse error, Kpps, r/min) is
determined by the selection of gain switching (P2-27).
P2-30■
INH
Auxiliary Function
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 023CH
023DH
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -8 ~ +8
Data Size: 16bit
Format: DEC
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April, 2013
Chapter 8 Parameters
Settings:
ASDA-M
0: Disable all functions described below
1: Force to Servo On the software
2~4: (reserved)
5: This setting allows the written parameters not retain after the
power off. When the data is no need to save, it can avoid the
parameters continuously writing into the EEPROM and
shortening the lifetime of EEPROM.
Setting this parameter is a must when using communication
control.
6: In simulation mode (command simulation), the external Servo
On signal cannot work and DSP Error (variable 0x6F) is
regarded as 0. Parameter P0-01 only shows the external Error
(positive/negative limit, emergency stop, etc)
In this status, DO.SRDY is ON. Command is accepted in each
mode and can be observed via scope software. However, the
motor will not operate. The aim is to examine the command
accuracy.
7: High-speed oscilloscope, disable Time-Out function (It is for PC
software)
8: Back up all parameters (current value) and save in EEPROM.
The value still exists when re-power on.
The panel displays ‘to.rom’ during execution. (It can be
executed when Servo ON.)
-1,-5,-6,-7: Individually disable the function of 1,5,6,7
-2~-4, -8: (reserved)
NOTE 1) Please set the value to 0 in normal operation. The value
returns to 0 automatically after re-power on.
P2-31
AUT1
Speed Loop Frequency Response
Setting in Auto and Semi-auto Mode
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 023EH
023FH
Related Section:
Section 5.6
Section 6.3.6
Communication
Default: 80
Control
Mode:
ALL
Unit: Hz
Range: 1 ~ 0x1000
Data Size: 16bit
Format: HEX
April, 2013
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Chapter 8 Parameters
Settings: 1~50Hz: Low stiffness, low response
51~250Hz: Medium stiffness, medium response
251~850Hz: High stiffness, high response
851~1000Hz: Extremely high stiffness, extremely high response
NOTE 1) According to the speed loop setting of P2-31, the servo drive
sets the position loop response automatically.
2) The function is enabled via parameter P2-32. Please refer to
Chapter 5.6 for corresponding bandwidth size of the setting
value.
P2-32▲
AUT2
Tuning Mode Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0240H
0241H
Related Section:
Section 5.6
Section 6.3.6
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x2
Data Size: 16bit
Format: HEX
Settings: 0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non- continuous adjustment)
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such
as P2-00, P2-02, P2-04, P2-06, P2-07, P2-25 and P2-26, all can
be set by the user.
When switching mode from auto or semi-auto to manual,
parameters about gain will be updated automatically.
Relevant description of auto mode setting:
Continue to estimate the system inertia, save the inertia ratio to
P1-37 every 30 minutes automatically and refer to the stiffness
and bandwidth setting of P2-31.
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April, 2013
Chapter 8 Parameters
ASDA-M
1. Set the system to manual mode 0 from auto 1 or semi-auto 2,
the system will save the estimated inertia value to P1-37
automatically and set the corresponding parameters.
2. Set the system to auto mode 1 or semi-auto mode 2 from
manual mode 0, please set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00,
P2-04 and P2-06 will be modified to the corresponding
parameters of auto mode.
4. Set the system to manual mode 0 from semi-auto mode 2,
P2-00, P2-04, P2-06, P2-25 and P2-26 will be modified to the
corresponding parameters of semi-auto mode.
Relevant description of semi-auto mode setting:
1. When the system inertia is stable, the value of P2-33 will be 1
and the system stops estimating. The inertia value will be
saved to P1-37 automatically. When switching mode to
semi-auto mode (from manual or auto mode), the system
starts to estimate again.
2. When the system inertia is over the range, the value of P2-33
will be 0 and the system starts to estimate and adjust again.
P2-33▲
AUT3
Semi-auto Inertia Adjustment
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0242H
0243H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 1
Data Size: 16bit
Format: DEC
April, 2013
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ASDA-M
Chapter 8 Parameters
Settings:

P2-34
SDEV
Semi-auto Setting:
1: It means the inertia estimation in semi-auto mode is
completed. The inertia value can be accessed via P1-37.
0: 1. When the display is 0, it means the inertia adjustment is
not completed and is adjusting.
2. When the setting is 0, it means the inertia adjustment is
not completed and is adjusting.
The Condition of Overspeed Warning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0244H
0245H
Related Section: -
Communication
Default: 5000
Control
Mode:
S
Unit: r/min
Range: 1 ~ 5000
Data Size: 16bit
Format: DEC
Settings: The setting of over speed warning in servo drive erro display
(P0-01)
P2-35
PDEV
Condition of Excessive Position
Control Deviation Warning
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0246H
0247H
Related Section: -
Communication
Default: 3840000
Control
Mode:
PT/PR
Unit: Pulse
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April, 2013
Chapter 8 Parameters
ASDA-M
Range: 1 ~ 128000000
Data Size: 32bit
Format: DEC
Settings: The setting of excessive position control deviation warning in
servo drive erro display (P0-01)
P2-36
Reserved
Address: 0248H
0249H
P2-37
Reserved
Address: 024AH
024BH
P2-38
Reserved
Address: 024CH
024DH
P2-39
Reserved
Address: 024EH
024FH
P2-40
Reserved
Address: 0250H
0251H
P2-41
Reserved
Address: 0252H
0253H
P2-42
Reserved
Address: 0254H
0255H
P2-43
NCF2
Resonance Suppression (Notch filter)
(2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Inerface:
Address: 0256H
0257H
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size:16bit
Format: DEC
Settings: The second setting value of resonance frequency. If P2-44 is set
to 0, this function is disabled. P2-23 and P2-24 are the first
Notch filter.
April, 2013
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ASDA-M
P2-44
Chapter 8 Parameters
DPH2
Resonance Suppression (Notch filter)
Attenuation Rate (2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0258H
0259H
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32 (0: disable Notch filter)
Data Size: 16bit
Format: DEC
Settings: The second resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is
disabled.
P2-45
NCF3
Resonance Suppression (Notch filter)
(3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 025AH
025BH
Related Section:
Section 6.3.7
Communication
Default: 1000
Control
Mode:
ALL
Unit: Hz
Range: 50 ~ 2000
Data Size: 16bit
Format: DEC
Settings: The third group of mechanism resonance frequency setting value.
If P2-46 is set to 0, this function will be disabled. P2-23 and P2-24
are the first group of resonance suppression (Notch filter).
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April, 2013
Chapter 8 Parameters
P2-46
DPH3
ASDA-M
Resonance Suppression (Notch filter)
Attenuation Rate (3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 025CH
025DH
Related Section:
Section 6.3.7
Communication
Default: 0
Control
Mode:
ALL
Unit: dB
Range: 0 ~ 32
Data Size: 16bit
Format: DEC
Settings: The third group of resonance suppression (Notch filter)
attenuation rate. Set the value to 0 to disable the function of
Notch filter.
P2-47
Auto Resonance Suppression Mode Address: 025EH
Setting
025FH
Parameter
Related Section: Parameter for individual axis
Attribute:
ANCF
Operational
Panel / Software
Interface:
Communication
Default: 1
Control
Mode:
ALL
Unit: Range: 0 ~ 2
Data Size: 16bit
Format: DEC
Settings: 0: The value of P2-43, P2-44 and P2-45, P2-46 will retain.
1: The value of P2-43, P2-44 and P2-45, P2-46 will retain after
resonance suppression.
2: Continuous resonance suppression
April, 2013
8-95
ASDA-M
Chapter 8 Parameters
Description of Auto Mode Setting:
When it is set to 1: Auto resonance, the value returns to 0
automatically and saves the point of
resonance suppression when it is stable. If
it is unstable, re-power on or set back to 1
for re-estimation again.
When it is set to 2: Continuous suppression automatically. When
it is stable, the point of resonance
suppression will be saved. If it is unstable,
re-power on for re-estimation.
When switching to mode 0 from mode 2 or 1, the setting of P2-43,
P2-44, P2-45 and P2-46 will be saved automatically.
P2-48
ANCL
Resonance Suppression Detection
Level
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0260H
0261H
Related Section: -
Communication
Default: 100
Control
Mode:
ALL
Unit: Range: 1 ~ 300%
Data Size: 16bit
Format: DEC
Settings: (The smaller the setting value is, the more sensitive the
resonance wil be.)
P2-48 ↑, resonance sensitiveness ↓
P2-48↓, resonance sensitiveness ↑
P2-49
SJIT
Speed Detection Filter
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0262H
0263H
Related Section: -
Communication
Default: 0
Control
Mode:
8-96
ALL
April, 2013
Chapter 8 Parameters
ASDA-M
Unit: Range: 0x0 ~ 0x1F
Data Size: 16bit
Format: HEX
April, 2013
8-97
ASDA-M
Chapter 8 Parameters
Settings: The filter of speed estimation
00
01
Speed estimation
bandwidth (Hz)
2500
2250
02
2100
03
2000
04
05
1800
1600
06
1500
07
1400
08
1300
09
1200
0A
1100
0B
1000
0C
950
0D
900
0E
850
0F
800
10
750
11
700
12
650
13
600
14
550
15
500
16
450
17
400
18
350
19
300
1A
250
1B
200
1C
175
1D
150
1E
125
1F
100
Setting Value
8-98
April, 2013
Chapter 8 Parameters
P2-50
DCLR
ASDA-M
Pulse Clear Mode
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0264H
0265H
Related Section: -
Communication
Default: 0
Control
Mode:
PT/PR
Unit: Range: 0 ~ 0x2
Data Size: 16bit
Format: HEX
Settings: Please refer to table 8.1 for digital input setting.
When set digital input (DI) as CCLR, the function of pulse clear is
effective. Clear the position error (It is applicable in PT, PR mode).
If this DI is ON, the accumulative position error will be cleared to
0.
0: The triggering method of CCLR is rising-edge.
1: The triggering method of CCLR is level.
P2-51
Reserved
Address: 0266H
0267H
P2-52
Reserved
Address: 0268H
0269H
P2-53
KPI
Position Integral Compensation
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 026AH
026BH
Related Section:
Section 6.3.6
Communication
Default: 0
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16bit
April, 2013
8-99
ASDA-M
Chapter 8 Parameters
Format: DEC
Settings: When increasing the value of position control integral, reducing
the position steady-state error, it may easily cause position
overshoot and noise if the value is set too big.
P2-54
SVP
The Gain of Synchronous Speed
Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 026CH
026DH
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 8191
Data Size: 16bit
Format: DEC
Settings: When increasing the value of synchronous speed control, it can
enhance the speed following of two motors. However, if the value
is set too big, it may easily cause vibration and noise.
(Firmware, V1.005 sub00 will be provided soon)
P2-55
Integral Compensation to Synchronous Address: 026EH
Speed
026FH
Parameter
Related Section: Parameter for individual axis
Attribute:
SVI
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: rad/s
Range: 0 ~ 1023
Data Size: 16bit
Format: DEC
8-100
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: When increasing integral compensation to synchronous speed,
two motors speed following can be enhanced and the speed error
between two motors can be reduced. However, if the value is set
too big, it may easily cause vibration and noise.
(Firmware, V1.005 sub00 will be provided soon)
P2-56
Integral Compensation to Synchronous Address: 0270H
Position
0271H
Related Section: Parameter
Parameter for individual axis
Attribute:
SPI
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: rad
Range: 0 ~ 1023
Data Size: 16bit
Format: DEC
Settings: When increasing integral compensation to synchronous position,
two motors speed following can be enhanced and the speed error
between two motors can be reduced. However, if the value is set
too big, it may easily cause vibration and noise It is suggested to
set the value the same as P2-06.
(Firmware, V1.005 sub00 will be provided soon)
P2-57
SBW
The Bandwidth of Synchronous
Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0272H
0273H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Hz
Range: 0 ~ 1023
Data Size: 16bit
April, 2013
8-101
ASDA-M
Chapter 8 Parameters
Format: DEC
Settings: If users do not know how to set P2-54~P2-56, setting the
bandwidth of synchronous control value will do since the value
will correspond to P2-54~P2-56. The bigger the bandwidth of
synchronous control value is, the better the synchronous effect
will be. When increasing the bandwidth of speed loop and
synchronous control, pay special attention to the response of
P2-25 which should be faster than the setting of the both
bandwidth.
(Firmware, V1.005 sub00 will be provided soon)
P2-58
GTRY
Gantry Function
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0274H
0275H
Related Section: -
Communication
Default: X Axis: 0000h
Y Axis: 0010h
Z Axis: 0020h
Control
ALL
Mode:
Unit: Range: 0000h ~ 0x1021
Data Size: 16bit
Format: HEX
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April, 2013
Chapter 8 Parameters
ASDA-M
Settings:
(Firmware, V1.005 sub00 will be provided soon)
 The switch of gantry function

0: Gantry function is not used
Disable the gantry function including command source
selection
and
gantry
compensation.
Excessive
synchronous deviation disables the function.
1: Gantry function is used
Enable the gantry function including command source
selection
and
gantry
compensation.
Excessive
synchronous deviation enables the function.
Command source
0: comes from X axis
When it is in position mode, the position command comes
from the position command of X axis.
When it is in speed mode, the speed command comes
from the speed command of X axis.
When it is in torque mode, the torque command comes
from the torque command of X axis.
1: comes from Y axis
When it is in position mode, the position command comes
from the position command of Y axis.
When it is in speed mode, the speed command comes
from the speed command of Y axis.
When it is in torque mode, the torque command comes
from the torque command of Y axis.
2: comes from Z axis
When it is in position mode, the position command comes
from the position command of Z axis.
April, 2013
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ASDA-M
Chapter 8 Parameters
When it is in speed mode, the speed command comes
from the speed command of Z axis.

When it is in torque mode, the torque command comes
from the torque command of Z axis.
DI synchronization
0: DI synchronization is used
DI status of the two axes of the gantry is the same
1: DI synchronization is not used
The DI status of two axis of the gantry is not synchronous.
P2-59
SERR
The Setting Value for Signaling
Exceeding Deviation Error Between
Two Axes
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0276H
0277H
Related Section: -
Communication
Default: 1280000
Control
Mode:
ALL
Unit: Pulse (based on the feedback of
full-closed loop)
29
Range: 1 ~ (2 -1)
Data Size: 32bit
Format: DEC
Settings: Set it as the two axes of gantry motion, if the feedback deviation
between two axes exceeds the setting value, two axes will stop
operating and show the alarm, AL081.
(Firmware, V1.005 sub00 will be provided soon)
P2-60
GR4
Gear Ratio (Numerator) (N2)
Parameter
Parameter for individual axis
Attribute:
Address: 0278H
0279H
Related Section: -
Operational
Panel / Software Communication
Interface:
Default: 128
Control
Mode:
8-104
PT
April, 2013
Chapter 8 Parameters
ASDA-M
Unit: Pulse
29
Range: 1 ~ (2 -1)
Data Size:32bit
Format: DEC
Settings: The numerator of electronic gear ratio can be selected via DI.GNUM0
and DI.GNUM1 (Please refer to table 8.1). If DI.GNUM0 and
DI.GNUM1 are not set, P1-44 will automatically be the numerator of
electronic gear ratio. Please switch GNUM0 and GNUM1 in stop
status to avoid the mechanical vibration.
P2-61
GR5
Gear Ratio (Numerator) (N3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 027AH
027BH
Related Section: -
Communication
Default: 128
Control
Mode:
PT
Unit: Pulse
29
Range: 1 ~ (2 -1)
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P2-60.
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Chapter 8 Parameters
GR6
Gear Ratio (Numerator) (N4)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 027CH
027DH
Related Section: -
Communication
Default: 128
Control
Mode:
PT
Unit: Pulse
29
Range: 1 ~ (2 -1)
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P2-60.
P2-63
Reserved
Address: 027EH
027FH
P2-64
Reserved
Address: 0280H
0281H
P2-65
GBIT
Special-bit Register
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0282H
0283H
Related Section: -
Communication
Default: 0
Control
Mode:
PT/PR/S
Unit: Range: 0 ~ 0xFFFF
Data Size: Format: -
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Chapter 8 Parameters
Settings:
ASDA-M
Special-bit Register:
Bit7
Bit6
Bit5
Bit4
Bit3
Bit2
Bit1
Bit0
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9
Bit8
 Bit0 ~ Bit5: reserved, please set to 0
 Bit6: In PT mode, the switch of pulse error protection function
(pulse frequency is over high)
Bit6 = 0: Normally use the function of pulse error protection
Bit6 = 1: Disable the function of pulse error protection
Bit7 ~ Bit15: reserved, please set to 0
P2-66
GBIT2
Special-bit Register 2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0284H
0285H
Related Section: -
Communication
Default: 0
Control
Mode:
PT / PR / S
Unit: Range: 0 ~ 0x000F
Data Size: 16bit
Format: HEX
Settings: Special-bit Register 2:
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
 Bit0 ~ Bit1: reserved, please set to 0
 Bit2: Cancel the latch of low-voltage error
Bit2 = 0: The latch of low-voltage error: Low-voltage error will
not be cleared automatically.
Bit2 = 1: Cancel the latch of low-voltage error: Low-voltage
error will not be cleared automatically.
Bit3 ~ Bit7: reserved, please set to 0
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Chapter 8 Parameters
JSL
The Stable Level of Inertia Estimation
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 1.5
Address: 0286H
0287H
Related Section: -
Communication
15
Control
Mode:
ALL
Unit: 1 times
0.1 times
Range: 0 ~ 200.0
0 ~ 2000
Data Size: 16bit
Format: One decimal
Example: 1.5 = 1.5 times
DEC
15 = 1.5 times
Settings: In semi-auto mode, if the value of inertia estimation is smaller
than P2-67 and the status remains for a while, the system will
regard the inertia estimation as completed.
P2-68
Reserved
Address: 0288H
0289H
P2-69
Reserved
Address: 028AH
028BH
P2-70
Reserved
Address: 028CH
028DH
P2-71
Reserved
Address: 028EH
028FH
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P3-xx
P3-00●
ASDA-M
Communication Parameters
ADR
Address: 0300H
0301H
Related Section:
Section 9.2
Address Setting
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0x7C
Control
Mode:
ALL
Unit: Range: 0x01 ~ 0x7F
Data Size: 16bit
Format: HEX
Settings: The communication address setting is divided into Y, X
(hexadecimal):
Range
0
0
Y
X
-
-
0~7
0~F
When using RS-232/RS-485 to communicate, one servo drive
can only set one address. The duplicate address setting will
cause abnormal communication.
In this servo drive, the 3-axis address setting should be unique.
The duplicate address will cause abnormal communication.
This address represents the absolute address of the servo drive
in communication network. It is also applicable to RS-232/485
and CAN bus.
When the communication address setting of MODBUS is set to
0xFF, the servo drive will automatically reply and receive data
regardless of the address. However, P3-00 cannot be set to 0xFF.
P3-01
BRT
Transmission Speed
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0302H
0303H
Related Section:
Section 9.2
Communication
Default: 0x0203
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Control
Mode:
ALL
Unit: bps
Range: 0x0000 ~ 0x0405
Data Size: 16bit
Format: HEX
Settings: The setting of transmission speed is divided into Z, Y, X
(hexadecimal):
0
Z
Communication
CAN
-
port
Range
0
0~4
 Definition of X setting value
0: 4800
1: 9600
2: 19200
3: 38400
4: 57600
5: 115200
 Definition of Z setting value
0: 125 Kbit/s
1: 250 Kbit/s
2: 500 Kbit/s
3: 750 Kbit/s
4: 1.0 Mbit/s
Y
X
-
RS-232/485
0
0~5
NOTE 1) If this parameter is set via CAN, only Z can be set and the
others remain.
2) The communication speed of USB is 1.0 Mbit/s only and is
unchangeable.
P3-02
PTL
Communication Protocol
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0304H
0305H
Related Section:
Section 9.2
Communication
Default: 6
Control
Mode:
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ASDA-M
Unit: Range: 0 ~ 0x8
Data Size: 16bit
Format: HEX
Settings: The definition of the setting value is as the followings:
0: 7, N, 2 (MODBUS, ASCII)
1: 7, E, 1 (MODBUS, ASCII)
2: 7, O,1 (MODBUS, ASCII)
3: 8, N, 2 (MODBUS, ASCII)
4: 8, E, 1 (MODBUS, ASCII)
5: 8, O, 1 (MODBUS, ASCII)
6: 8, N, 2 (MODBUS, RTU)
7: 8, E, 1 (MODBUS, RTU)
8: 8, O, 1 (MODBUS, RTU)
P3-03
FLT
Communication Error Disposal
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0306H
0307H
Related Section:
Section 9.2
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x1
Data Size: 16bit
Format: HEX
Settings: The definition of the setting value is as the following:
0: Warning and keeps running
1: Warning and stops deceleration (The deceleration time is set to
parameter P5-03.B)
P3-04
CWD
Communication Timeout
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
April, 2013
Address: 0308H
0309H
Related Section:
Section 9.2
Communication
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Chapter 8 Parameters
Default: 0
Control
Mode:
ALL
Unit: sec
Range: 0 ~ 20
Data Size: 16bit
Format: DEC
Settings: If the setting value is not 0, enable communication timeout
immediately. If it is set to 0, disable the function.
P3-05
CMM
Communication Mechanism
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 030AH
030BH
Related Section:
Section 9.2
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0x00 ~ 0x01
Data Size: 16bit
Format: HEX
Settings: Communication port can select one or more than one
communications.
 Communication Interface
0: RS232
1: RS485
P3-06■
SDI
Control Switch of Digital Input (DI)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 030CH
030DH
Related Section: -
Communication
Default: 0
Control
Mode:
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ASDA-M
Unit: Range: 0x0000 ~ 0x003F
Data Size: 16bit
Format: HEX
Settings: The source of DI controls the switch.
Each bit of this parameter decideds one input source of DI signal:
Bit0 ~ Bit5 correspond to DI1 ~ DI6.
The setting of bit is as the followings:
0: The input status is controlled by the external hardware.
1: The input status is controlled by P4-07.
For the functional planning of digital input, please refer to:
DI1 ~ DI6: P2-10 ~ P2-15
P3-07
CDT
Communication Response Delay Time
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 030EH
030FH
Related Section:
Section 9.2
Communication
Default: 0
Control
Mode:
ALL
Unit: 1ms
Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
Settings: Delay the time of communication response from servo drive to
controller
P3-08■
MNS
Monitor Mode
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0310H
0311H
Related Section: -
Communication
Default: 0000
Control
Mode:
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Chapter 8 Parameters
Unit: Range: Shown as below
Data Size: 16bit
Format: HEX
Settings: The setting of monitor mode is divided into L and H.
(hexadecimal):
Item
-
-
Function
-
-
Range
0
0
L
Low-speed
monitoring
time
0~F
H
Monitor
Mode
0~4
The status of this axis or multi-axis can be monitored by USB.
The definition of setting value is as follows:
 The definition of H setting value
4: USB is high-speed monitor. The sampling frequency is 4K
and can monitor 8CH.
3: USB is high-speed monitor. The sampling frequency is
16K and can only monitor 2CH.
2: USB is high-speed monitor. The sampling frequency is 8K
and can monitor 4CH.
1: USB is low-speed monitor. The sampling time is set by L
and can monitor 4CH.
0: disable the monitor function
 L: the sampling time of USB low-speed monitor. Its unit is ms.
It means the axial status will be set via USB every L ms. So
the controller can monitor the axial status. Each monitoring
message includes 4 CH data (16 bit x 4). If L is set to 0, this
function is disabled. L is enabled when H is set to 1.
P3-09
SYC
CANopen Synchronize Setting
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0312H
0313H
Related Section: -
Communication
Default: 0x57A1
Control
Mode:
CANopen
Unit: 8-114
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ASDA-M
Range: Shown as below
Data Size: 16bit
Format: HEX
Settings: The synchronous setting of CANopen is divided into E, T, D and
M (hexadecimal):
Item
E
T
D
M
Range of
Target
Adjusting
Function Synchronous
Deadband
value
amount
error
Range
1~9
0~9
0~F
1~F
The slave of CANopen synchronizes with the master via SYNC.
See as the followings:
M: If the slave needs to synchronize with the master, correct the
clock is a must. This parameter sets the maximum correction
value per time. (Unit: usec)
D: Set the size of deadband (Unite: usec). If the deviation
between the SYNC reaching time and the target value does
not exceed the deadband, correction is no need.
T: SYNC arrival time. The standard value is 500usec but it might
be different from the target value. Thus, the buffer is necessary.
Target value=400 + 10 x T.
For instance, if T=5, the target value will be 450.
E: If the deviation between SYNC reaching time and the target
value is smaller than the range, it means the synchronization
is successful. (Unit: 10 usec)
P3-10
Reserved
P3-11
CANOP
Address: 0314H
0315H
CANopen Selection
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0316H
0317H
Related Section: -
Communication
Default: 0x0000
Control
Mode:
CANopen
Unit: Range: Shown as below
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Chapter 8 Parameters
Data Size: 16bit
Format: HEX
Settings: Synchronous setting of CANopen is divided into X, Y, Z and U
(hexadecimal):
Item
U
Z
Y
X
Whether the
Function undefined undefined undefined parameter is saved
into EEPROM
Range
0~1
The definition is as follows:
X=1: When writing parameters via PDO, parameters will be saved
in EEPROM.
X=0: When writing parameters via PDO, parameters will not be
save in EEPROM.
Y: undefined
Z: undefined
U: undefined
NOTE This parameter is effective in the model of ASDA-M-M/F.
If X is set to 1 and write parameters by PDO continuously, it will
shorten the lifetime of EEPROM.
P3-12
QSTPO
CANopen Support Setting
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0318H
0319H
Related Section: -
Communication
Default: 0x0000
Control
Mode:
CANopen
Unit: Range: Shown as below
Data Size: 16bit
Format: HEX
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ASDA-M
Settings: The supporting setting of CANopen is divided into X, Y, Z and U
(hexadecimal):
Item
U
Z
Y
X
CANopen value will be
Function undefined
undefined undefined
loaded in
Range
0~1
The definition is as the followings:
X, Y, U: undefined
Z=0: After re-power on or reset the communication, CANopen
default value will be loaded in.
Z=1: After re-power on or reset the communication, parameter
value will not be changed.
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P4-xx
P4-00★
Chapter 8 Parameters
Diagnosis Parameters
ASH1
Fault Record (N)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0400H
0401H
Related Section:
Section 4.4.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: HEX
Settings: The last abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to
CANopen
P4-01★
ASH2
Fault Record (N-1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0402H
0403H
Related Section:
Section 4.4.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: HEX
Settings: The last second abnormal status record
Low word: LXXXX: display ALM number
High word word: hYYYY: display the error code corresponds to
CANopen
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P4-02★
ASH3
ASDA-M
Fault Record (N-2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0404H
0405H
Related Section:
Section 4.4.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: HEX
Settings: The last third abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to
CANopen
P4-03★
ASH4
Fault Record (N-3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0406H
0407H
Related Section:
Section 4.4.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: HEX
Settings: The last fourth abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to
CANopen
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P4-04★
Chapter 8 Parameters
ASH5
Fault Record (N-4)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0408H
0409H
Related Section:
Section 4.4.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: Data Size: 32bit
Format: HEX
Settings: The last fifth abnormal status record
Low word: LXXXX: display ALM number
High word: hYYYY: display the error code corresponds to
CANopen
P4-05
JOG
Servo Motor Jog Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 040AH
040BH
Related Section:
Section 4.4.2
Communication
Default: 20
Control
Mode:
ALL
Unit: r/min
Range: 0 ~ 5000
Data Size: 16bit
Format: DEC
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ASDA-M
Settings: Three control methods are as follows:
1. Operation test
After the JOG speed is set by P4-05 via panel, the panel will
display the symbol of JOG. Pressing the UP Key can control
JOG operation in positive direction, pressing the DOWN Key
can control negative direction. Stop pressing to stop the JOG
operation. If there is any error in this setting, then the motor
cannot operate. The maximum JOG speed is the maximum
speed of the servo motor.
2. DI control
If the DI is set to JOGU and JOGD (refer to table 8.1), then the
JOG operation in positive or negative direction can be
controlled via this DI.
3. Communication control
1 ~ 5000: JOG speed
4998: JOG operation in positive direction
4999: JOG operation in negative direciton
0: Stop operation
NOTE When writing via communication, if the frequency is high, please
set P2-30 to 5.
P4-06▲
■
Digital Output Register (Readable and Address: 040CH
Writable)
040DH
Parameter
Related Section:
Parameter for individual axis
Section 4.4.3
Attribute:
FOT
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x31FF
Data Size: 16bit
Format: HEX
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Settings: bit 00: correspond to DO code=0x30
bit 01: correspond to DO code=0x31
bit 02: correspond to DO code=0x32
bit 03: correspond to DO code=0x33
bit 04: correspond to DO code=0x34
bit 05: correspond to DO code=0x35
bit 06: correspond to DO code=0x36
bit 07: correspond to DO code=0x37
bit 08: correspond to DO code=0x38
bit 09: correspond to DO code=0x39
bit 10: correspond to DO code=0x3A
bit 11: correspond to DO code=0x3B
bit 12: correspond to DO code=0x3C
bit 13: correspond to DO code=0x3D
bit 14: correspond to DO code=0x3E
bit 15: correspond to DO code=0x3F
When setting the DO number of each axis, please add the axial
parameter.
For example:
Each axis is used individually:
P2-18 of X axis is set to 0x1130, then the DO#1 of X axis is bit 0
status of P4-06 of X axis.
P2-18 of Y axis is set to 0x2130, then the DO#1 of Y axis is bit 0
status of P4-06 of Y axis.
P2-18 of Z axis is set to 0x3130, then the DO#1 of Z axis is bit 0
status of P4-06 of Z axis.
Each axis can be used one another: The DO status can be output
through P4-06 from other axes.
P2-18 of X axis is set to 0x2130, then the DO#1 of X axis is bit 0
status of P4-06 of Y axis.
P2-18 of Y axis is set to 0x3130, then the DO#1 of Y axis is bit 0
status of P4-06 of Z axis.
P2-18 of Z axis is set to 0x1130, then the DO#1 of Z axis is bit 0
status of P4-06 of X axis.
DO Code (0x30~0x3F) can be set via communication DO, and
then write into P4-06.
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P4-07■
ITST
ASDA-M
Multi-function of Digital Input
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 040EH
040FH
Related Section:
Section 4.4.4
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x3F
Data Size: 16bit
Format: HEX
Settings: The DI input signal can come from external terminal (DI1~DI6) or
software SDI1~SDI6 (Bit 0~5 of corresponding parameter P4-07)
and is determined by P3-06. The corresponding bit of P3-06 is 1,
which means the source is software SDI (P4-07). If the
corresponding bit is 0, then the source is hardware DI. See the
following graph:
External DI, DI1~DI6
Software DI,
SDI1~SDI6
(P4-07 bit)
P3-06
DI after
combination
Read parameters: shows the DI status after combination
Write parameters: writes the software SDI status
For example:
The value of reading P4-07 is 0x0011, which means DI1 and DI5
is ON after combination.
The value of writing P4-07 is 0x0011, which means software SDI1
and SDI5 is ON.
Please refer to P2-10~P2-15 for the function programe of digital
input pin DI (DI1~DI6)
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P4-08★
Chapter 8 Parameters
PKEY
Input Status of the Drive Keypad
(Read-only)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0410H
0411H
Related Section: -
Communication
Default: Control
Mode:
ALL
Unit: Range: (Read-only)
Data Size: 16bit
Format: HEX
Settings: The aim is to check if the five Keys, MODE, UP, DOWN, SHIFT
and SET can work normally. This parameter is also used to check
if the Keys are all functional when producing servo drives.
P4-09★
MOT
Digital Output Status (Read-only)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0412H
0413H
Related Section:
Section 4.4.5
Communication
Default: Control
Mode:
ALL
Unit: Range: 0 ~ 0x1F
Data Size: 16bit
Format: HEX
Settings: Note: There is no difference whether read by panel or
communication.
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P4-10■
CEN
ASDA-M
Adjustment Selection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0414H
0415H
Related Section: -
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 6
Data Size: 16bit
Format: DEC
Settings: 0: reserved
1: Exectue the adjustment of analog speed input offset
2: Exectue the adjustment of analog torque input offset
3: Exectue the adjustment of current detector (V phase) offset
4:Exectue the adjustment of current detector (W phase) hardware
offset
5: Exectue the adjustment of 1~4 hardware offset
6: Execute the adjustment of IGBT ADC
NOTE The adjustment function needs to be enabled by the setting of
parameter P2-08. When adjusting, the external wiring which
connects to analog speed or torque needs to be removed
completely and must be in Servo Off status.
P4-11
Analog Speed Input Offset Adjustment Address: 0416H
1
0417H
Parameter
Related Section: Parameter for individual axis
Attribute:
SOF1
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
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Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-12
Analog Speed Input Offset Adjustment Address: 0418H
2
0419H
Parameter
Related Section: Parameter for individual axis
Attribute:
SOF2
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-13
Analog Torque Input Offset Adjustment Address: 041AH
1
041BH
Parameter
Related Section: Parameter for individual axis
Attribute:
TOF1
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
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Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-14
Analog Torque Input Offset Adjustment Address: 041CH
2
041DH
Parameter
Related Section: Parameter for individual axis
Attribute:
TOF2
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-15
Current Detector (V1 Phase) Offset Address: 041EH
Adjustment
041FH
Parameter
Related Section: Parameter for individual axis
Attribute:
COF1
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
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Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-16
Current Detector (V2 Phase) Offset Address: 0420H
Adjustment
0421H
Parameter
Related Section: Parameter for individual axis
Attribute:
COF2
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-17
Current Detector (W1 Phase) Offset Address: 0422H
Adjustment
0423H
Parameter
Related Section: Parameter for individual axis
Attribute:
COF3
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
8-128
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-18
Current Detector (W2 Phase) Offset Address: 0424H
Adjustment
0425H
Parameter
Related Section: Parameter for individual axis
Attribute:
COF4
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
Settings: Manually adjust the hardware offset. The adjustment function
needs to be enabled by the setting of parameter P2-08. It is not
suggested to adjust the auxiliary adjustment. This parameter
cannot be reset.
P4-19
IGBT NTC Adjustment Detection Level Address: 0426H
(cannot reset)
0427H
Parameter
Related Section: Parameter for individual axis
Attribute:
TIGB
Operational
Panel / Software
Interface:
Communication
Default: Factory default
Control
Mode:
ALL
Unit: Range: 1 ~ 4
Data Size: 16bit
Format: DEC
Settings: Please cool down the drive to 25 Celsius degree when adjusting
April, 2013
8-129
ASDA-M
P4-20
Chapter 8 Parameters
DOF1
Offset Adjustment Value of Analog
Monitor Output (Ch1)
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0428H
0429H
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16bit
Format: DEC
Settings: Offset adjustment value (cannot reset)
P4-21
DOF2
Offset Adjustment Value of Analog
Monitor Output (Ch2)
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 042AH
042BH
Related Section:
Section 6.6.3
Communication
Default: 0
Control
Mode:
ALL
Unit: mV
Range: -800 ~ 800
Data Size: 16bit
Format: DEC
Settings: Offset adjustment value (cannot reset)
P4-22
SAO
Analog Speed Input OFFSET
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 042CH
042DH
Related Section: -
Communication
Default: 0
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April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
S
Unit: mV
Range: -5000 ~ 5000
Data Size: 16bit
Format: DEC
Settings: Users manually adjust the OFFSET
P4-23
TAO
Analog Torque Input OFFSET
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 042EH
042FH
Related Section: -
Communication
Default: 0
Control
Mode:
T
Unit: mV
Range: -5000 ~ 5000
Data Size: 16bit
Format: DEC
Settings: Users manually adjust the OFFSET
P4-24
LVL
Level of Undervoltage Error
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0430H
0431H
Related Section: -
Communication
Default: 160
Control
Mode:
ALL
Unit: V(rms)
Range: 140~190
Data Size: 16bit
Format: DEC
April, 2013
8-131
ASDA-M
Chapter 8 Parameters
Settings: When the voltage of DC BUS is lower than P4-24* 2 , the
undervoltage alarm occurs.
8-132
April, 2013
Chapter 8 Parameters
P5-xx
ASDA-M
Motion Setting Parameters
P5-00
Reserved
Address: 0500H
0501H
P5-01
Reserved
Address: 0502H
0503H
P5-02
Reserved
Address: 0504H
0505H
P5-03
PDEC
Deceleration Time of Auto Protection
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0506H
0507H
Related Section: -
Communication
Default: 0XE0EFEEFF
Control
Mode:
ALL
Unit: Range: 0x00000000 ~ 0xF0FFFFFF
Data Size: 32bit
Format: HEX
Settings: The parameter setting is divided into D, C, B, A, W, Z, Y, X
(hexadecimal), including:
1. The deceleration time when activating the auto-protection
function: OVF, CTO (communication timeout AL020), SPL,
SNL, PL, NL
2. Deceleration time of Stop Command: STP
Item
D
Function STP
Range
0~F
C
B
A
W
Z
Y
X
Reserved
CTO
OVF
SNL
SPL
NL
PL
-
0~F 0~F 0~F
0~F 0~F 0~F
0 ~ F is used to indexing the deceleration time of P5-20~P5-35.
For example: If X is set to A, then the deceleration time of PL is
determined by P5-30.
April, 2013
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ASDA-M
P5-04
Chapter 8 Parameters
HMOV
Homing Mode
Address: 0508H
0509H
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Communication
Interface:
Default: 0
Control
PR
Mode:
Unit: Range: 0 ~ 0x128
Data Size: 16bit
Format: HEX
Settings:
The definition of the setting value is as the followings:
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April, 2013
Chapter 8 Parameters
ASDA-M
W
Z
Reserved Limit Setting
-
0~1
Y
X
Z pulse Setting
Homing Method
0~2
0~8
Y=0: Stop and
return to Z
pulse
When
encounter
limit:
Z=0: shows
error
Z=1: rotates
backwards
X=0: Homing in forward
direction and regard PL as
the homing origin.
Y=1: Go forward X=1: Homing in reverse
to Z pulse direction and regard NL as
Y=2: Do not look the homing direction.
for Z pulse
X=2: Homing in forward
direction
ORGP: OFF  ON, as the
homing origin
X=3: Homing in reverse
direction
ORGP: OFF  ON, as the
homing origin
X=4: Look for Z pulse in
forward direction and
regard it as the homing
origin
X=5: Look for Z pulse in
reverse direction and
regard it as the homing
origin
X=6: Homing in forward
Y=0: Stop and
return to Z direction
pulse
ORGP: ON  OFF, as the
Y=1: Go forward homing origin
to Z pulse
X=7: Homing in reverse
Y=2: Do not look direction
for Z pulse
ORGP: ON  OFF, as the
homing origin
X=8: directly define the
current position as the
origin
April, 2013
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ASDA-M
Chapter 8 Parameters
st
P5-05
1
Speed Setting of High Speed Address: 050AH
Homing
050BH
Parameter
Related Section: Parameter for individual axis
Attribute:
HSPD1
Operational
Panel / Software
Interface:
Default: 100.0
Communication
1000
Control
Mode:
ALL
Unit: 1 r/min
Range: 0.1 ~ 2000.0
0.1 r/min
1 ~ 20000
Data Size: 16bit
Format: DEC
Example: 1.5 = 1.5 r/min
15 = 1.5 r/min
st
Settings: The 1 speed of high speed homing
P5-06
2nd Speed Setting of Low Speed Address: 050CH
Homing
050DH
Parameter
Related Section: Parameter for individual axis
Attribute:
HSPD2
Operational
Panel / Software
Interface:
Default: 20.0
Communication
200
Control
Mode:
ALL
Unit: 1 r/min
0.1 r/min
Range: 1 ~ 500.0
10 ~ 5000
Data Size: 16bit
Format: DEC
Example: 15 = 15 r/min
8-136
150 = 15 r/min
April, 2013
Chapter 8 Parameters
ASDA-M
nd
Settings: The 2
P5-07■
PRCM
speed setting of low speed homing
Trigger Position Command (PR mode
only)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 050EH
050FH
Related Section: -
Communication
Default: 0
Control
Mode:
PR
Unit: Range: 0 ~ 1000
Data Size: 16bit
Format: DEC
Settings: Set P5-07 to 0 to start homing
Set P5-07 to 1~99 to execute PR procedure which is the same as
DI.CTRG+POSn
It is prohibited to set P5-07 to 100 ~ 9999 (The value exceeds the
valid range)
Set P5-07 to 1000 to execute Stop Command which is the same
as DI.STOP
When reading P5-07:
If the command is incompleted, the drive will read the current
command.
If the command is completed, the drive will read the current
command + 10000.
If the command is completed and DO.TPOS is ON, reach the
motor position, the drive will read the current command +20000.
When PR is triggered by DI, the reading value is the same
For example:
Set P5-07 to 3, PR#3 will be triggered.
If the reading value is 3, it means PR #3 is incompleted.
If the reading value is 10003, it means PR#3 is issued completed,
but the motor has not reached the target position yet.
If the reading value is 20003, it means PR#3 is issued completed
and the motor has reached the target position.
April, 2013
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ASDA-M
P5-08
Chapter 8 Parameters
SWLP
Forward Software Limit
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0510H
0511H
Related Section: -
Communication
Default: 2147483647
Control
Mode:
PR
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: In PR mode, if the motor rotates in forward direction and its
command position exceeds the setting value of P5-08, it will
trigger AL283.
P5-09
SWLN
Reverse Software Limit
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0512H
0513H
Related Section: -
Communication
Default: -2147483648
Control
Mode:
PR
Unit: PUU
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: In PR mode, if the motor rotates in reverse direction and its
command position exceeds the setting value of P5-09, it will
trigger AL285.
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April, 2013
Chapter 8 Parameters
P5-10★
AYSZ
ASDA-M
Data Array-Data Size
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0514H
0515H
Related Section:
Section 7.2.2
Communication
Default: Control
Mode:
ALL
Unit: Range: Read-only
Data Size: 16bit
Format: DEC
Settings: Data size (N x 32 bits) means size N of data array
P5-11■
Data Array - Address of Reading / Address: 0516H
Writing
0517H
Parameter
Related Section:
Parameter for individual axis
Section 7.2.2
Attribute:
AYID
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ (value set by P5-10 minus 1)
Data Size: 16bit
Format: DEC
Settings: The address of specified data when reading or writing data array.
P5-12■
Data Array-Window #1 for Reading / Address: 0518H
0519H
Writing
Parameter
Related Section:
Parameter for individual axis
Section 7.2.2
Attribute:
AYD0
Operational
Panel / Software
Interface:
Communication
Default: 0
April, 2013
8-139
ASDA-M
Chapter 8 Parameters
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Window #1 (Array[P5-11++])
When reading the parameter via panel, the value set by P5-11 will
not add 1, but the others will.
P5-13■
Data Array - Window #2 for Reading / Address: 051AH
Writing
051BH
Parameter
Related Section:
Parameter for individual axis
Section 7.2.2
Attribute:
AYD1
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Window #2(Array[P5-11++])
When reading and writing the parameter via panel or
communication, the value set by P5-11 will add 1. Panel is
write-protected.
P5-14
P5-15■
Address: 051CH
051DH
Reserved
PATH#1 ~ PATH#2 No Data Retained Address: 051EH
Setting
051FH
Parameter
Related Section: Parameter for individual axis
Attribute:
PMEM
Operational
Panel / Software
Interface:
Communication
Default: 0x0
8-140
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
ALL
Unit: Range: 0x0 ~ 0x0011
Data Size: 16bit
Format: HEX
Settings: The parameter is divided into 00YX:
X=0: PATH#1 Data retained
X=1: PATH#1 No data retained
Y=0: PATH#2 Data retained
Y=1: PATH#2 No data retained
Others are reserved
Users can continuously write the new position into the drive
through communication by P5-05.
P5-16■
AXEN
Axis Position - Motor Encoder
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0520H
0521H
Related Section:
Section 7.3
Communication
Default: 0
Control
Mode:
ALL
Unit: PUU (User position unit)
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Read: The feedback position of the motor encoder, which is the
monitor various V000 + the offset value.
Write: Any value can be written into the parameter and will neither
change V000 nor influence the positioning coordinate system. It is
only for observation when adjusting the offset value.
April, 2013
8-141
ASDA-M
P5-17
Chapter 8 Parameters
AXAU
Axis Position - Auxiliary Encoder
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0522H
0523H
Related Section:
Section 7.3
Communication
Default: Control
Mode:
ALL
Unit: Pulse number
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Sends back: pulse counts of the auxiliary encoder (linear scale)
P5-18
AXPC
Axis Position - Pulse Command
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0524H
0525H
Related Section:
Section 7.3
Communication
Default: Control
Mode:
ALL
Unit: Pulse number
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Sends back: pulse counts of pulse command
P5-19
TBS
E-Cam Curve Scaling
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0526H
0527H
Related Section: -
Communication
Default: 1.000000
8-142
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: 0.000001 times which is 1 / (10^6)
Range: -2147.000000 ~ +2147.000000
Data Size: 32 bit
Format: DEC
Example: 1100000 = 1.1 times
Settings: This parameter is used to magnify or minify the E-Cam table
without changing its setting value.
For example, the data in the table is 0,10,20,30,40,20,
magnification x 2.000000 equals to the data in the table:
0,20,40,60,80,40, magnification x 1.000000.
Enable the operation of E-Cam by using the same pulse
frequency of the master axis. Magnify the magnification will
enlarge the route of E-Cam operation. The speed will be
magnified as well.
NOTE 1) This parameter can be set anytime, but will be effective only
when pre-engaged → engaged.
P5-20
AC0
Acceleration/Deceleration
(Number #0)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0528H
0529H
Related Section:
Section 7.10
Communication
Default: 200
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: The setting time of acceleration/deceleration in PR mode, which
is the time it needs when accelerating from 0 to 3000r/min
April, 2013
8-143
ASDA-M
P5-21
Chapter 8 Parameters
AC1
Acceleration/Deceleration
(Number #1)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 052AH
052BH
Related Section:
Section 7.10
Communication
Default: 300
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-22
AC2
Acceleration/Deceleration
(Number #2)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 052CH
052DH
Related Section:
Section 7.10
Communication
Default: 500
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-23
AC3
Acceleration/Deceleration
(Number #3)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
8-144
Time Address: 052EH
052FH
Related Section:
Section 7.10
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: 600
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-24
AC4
Acceleration/Deceleration
(Number #4)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0530H
0531H
Related Section:
Section 7.10
Communication
Default: 800
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-25
AC5
Acceleration/Deceleration
(Number #5)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0532H
0533H
Related Section:
Section 7.10
Communication
Default: 900
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
April, 2013
8-145
ASDA-M
Chapter 8 Parameters
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-26
AC6
Acceleration/Deceleration
(Number #6)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0534H
0535H
Related Section:
Section 7.10
Communication
Default: 1000
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-27
AC7
Acceleration/Deceleration
(Number #7)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0536H
0537H
Related Section:
Section 7.10
Communication
Default: 1200
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
8-146
April, 2013
Chapter 8 Parameters
P5-28
AC8
ASDA-M
Acceleration/Deceleration
(Number #8)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0538H
0539H
Related Section:
Section 7.10
Communication
Default: 1500
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-29
AC9
Acceleration/Deceleration
(Number #9)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 053AH
053BH
Related Section:
Section 7.10
Communication
Default: 2000
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-30
AC10
Acceleration/Deceleration
(Number #10)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
April, 2013
Time Address: 053CH
053DH
Related Section:
Section 7.10
Communication
8-147
ASDA-M
Chapter 8 Parameters
Default: 2500
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-31
AC11
Acceleration/Deceleration
(Number #11)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 053EH
053FH
Related Section:
Section 7.10
Communication
Default: 3000
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-32
AC12
Acceleration/Deceleration
(Number #12)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0540H
0541H
Related Section:
Section 7.10
Communication
Default: 5000
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
8-148
April, 2013
Chapter 8 Parameters
ASDA-M
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-33
AC13
Acceleration/Deceleration
(Number #13)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0542H
0543H
Related Section:
Section 7.10
Communication
Default: 8000
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: Please refer to P5-20 for the setting of acceleration/deceleration
time in PR mode.
P5-34
AC14
Acceleration/Deceleration
(Number #14)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0544H
0545H
Related Section:
Section 7.10
Communication
Default: 50
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: The default value of this parameter is smaller (short deceleration
time) and it is used for deceleration time setting of auto protection.
April, 2013
8-149
ASDA-M
P5-35
Chapter 8 Parameters
AC15
Acceleration/Deceleration
(Number #15)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Time Address: 0546H
0547H
Related Section:
Section 7.10
Communication
Default: 30
Control
Mode:
PR
Unit: ms
Range: 1 ~ 65500
Data Size: 16bit
Format: DEC
Settings: The default value of this parameter is smaller (short deceleration
time) and it is used for short deceleration time and stops promptly
of auto protection.
P5-36
CAPTURE - Start Address of Data Address: 0548H
Array
0549H
Parameter
Related Section:
Parameter for individual axis
Section 7.11.1
Attribute:
CAST
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ (value set by P5-10 minus 1)
Data Size: 16bit
Format: DEC
Settings: The first data CAPTURE obtained should be saved in the address
of data array.
NOTE It is writable only when COMPARE stops (please refer to P5-39)
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April, 2013
Chapter 8 Parameters
P5-37■
CAAX
ASDA-M
CAPTURE-Axis Position CNT
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 054AH
054BH
Related Section:
Section 7.11.1
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Shows the axis position of CAPTURE pulse source
NOTE 1) It is writable only when COMPARE stops (please refer to
P5-39)
2) If the source is the main encoder, this parameter is
write-protected and the content is the feedback position of the
motor (monitor variable 00h).
P5-38■
CAPTURE-The Number of Capturing Address: 054CH
054DH
Times
Parameter
Related Section:
Parameter for individual axis
Section 7.11.1
Attribute:
CANO
Operational
Panel / Software
Interface:
Communication
Default: 1
Control
Mode:
ALL
Unit: Range: 1 ~ (the value set by P5-10 minus the
value set by P5-36)
Data Size: 16bit
Format: DEC
April, 2013
8-151
ASDA-M
Chapter 8 Parameters
Settings: When CAP stops, it means the number of data that expect to
capture (readable and writable)
When CAP activates, it means the number of data that has not
been captured (read-only); Every time, when it captures one data,
the value of P5-38 will minus one. When the value is 0, it means
the capturing is completed.
NOTE The number of data which is used by COMPARE, CAPTURE and
E-Cam cannot exceed 1500.
P5-39■
CACT
CAPTURE-Activate CAP Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 054EH
054FH
Related Section:
Section 7.11.1
Communication
Default: 0x2010
Control
Mode:
ALL
Unit: Range: 0x0000 ~ 0xF13F
Data Size: 16bit
Format: HEX
Settings:
X: See the following table
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April, 2013
Chapter 8 Parameters
ASDA-M
Y: 0-CAPTURE is not working
1-AUX ENC (linear scale) is set as the source
2-PULSE Cmd
3-Main ENC (main encoder)
When the source of CMP is CAP axis, the source Y of CAP
cannot be changed.
Z:0-NO,1-NC。
U:trigger the minimum interval (Unit: ms)
Bit
X function
3
2
1
After
Reset the
capturing the
position of
finishing
first data,
the first data
capturing
CMP is
Execute PR
when
0
Activate CAP
activated.
Description
Execute PR
#50 after
finishing CAP
It is invalid
After
Starts to
when CMP is
capturing
capture when
activated
the first
it is set to 1.
data, reset
After finishing
the position
capturing, this
coordinate
bit becomes 0
automatically.
bit 0: When the value set by P5-38 is bigger than 0, set bit 0 to 1
will activate CAP function and DO.CAP_OK is OFF. Every
time, when a data is captured, the value of P5-38 will minus
one. When the P5-38 is 0, it means the capture function is
completed, DO.CAP_OK is ON and bit 0 will be reset to 0
automatically. If P5-38 equals to 0, set bit 0 to 1 will not
activate CAP function. DO.CAP_OK is OFF and bit 0 will
automatically be set to 0. If CAP function is activated, it
cannot set 1 to bit 0. It only can be written 0 to disable CAP
function.
April, 2013
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Chapter 8 Parameters
bit 1: If this bit is 1, when capturing the first data, the current
position of CAP axis will be set to the value of P5-76.
bit 2: If this bit is 1, when capturing the first data, CMP will be
activated. (When bit 0 of P5-59 is set to 1 and P5-58 is set
to the previous value.) If CMP has been activated, then this
function is invalid.
bit 3: If this bit is 1, as soon as the CAP finished, PR procedure
#50 will be triggered automatically.
P5-40
Delay Time After Position Completed Address: 0550H
(Number #0)
0551H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY0
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
st
Settings: The 1 Delay Time of PR mode
P5-41
Delay Time After Position Completed Address: 0552H
(Number #1)
0553H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY1
Operational
Panel / Software
Interface:
Communication
Default: 100
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
8-154
April, 2013
Chapter 8 Parameters
ASDA-M
Format: DEC
nd
Settings: The 2
P5-42
Delay Time of PR mode
Delay Time After Position Completed Address: 0554H
(Number #2)
0555H
Related Section:
Parameter
Parameter for individual axis
Section 7.10
Attribute:
DLY2
Operational
Panel / Software
Interface:
Communication
Default: 200
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
rd
Settings: The 3 Delay Time of PR mode
P5-43
Delay Time After Position Completed Address: 0556H
(Number #3)
0557H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY3
Operational
Panel / Software
Interface:
Communication
Default: 400
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 4 Delay Time of PR mode
April, 2013
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ASDA-M
P5-44
Chapter 8 Parameters
Delay Time After Position Completed Address: 0558H
(Number #4)
0559H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY4
Operational
Panel / Software
Interface:
Communication
Default: 500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 5 Delay Time of PR mode
P5-45
Delay Time After Position Completed Address: 055AH
(Number #5)
055BH
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY5
Operational
Panel / Software
Interface:
Communication
Default: 800
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 6 Delay Time of PR mode
P5-46
Delay Time After Position Completed Address: 055CH
(Number #6)
055DH
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY6
Operational
Panel / Software
Interface:
Communication
Default: 1000
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April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 7 Delay Time of PR mode
P5-47
Delay Time After Position Completed Address: 055EH
(Number #7)
055FH
Related Section:
Parameter
Parameter for individual axis
Section 7.10
Attribute:
DLY7
Operational
Panel / Software
Interface:
Communication
Default: 1500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 8 Delay Time of PR mode
P5-48
Delay Time After Position Completed Address: 0560H
(Number #8)
0561H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY8
Operational
Panel / Software
Interface:
Communication
Default: 2000
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
April, 2013
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Chapter 8 Parameters
th
Settings: The 9 Delay Time of PR mode
P5-49
Delay Time After Position Completed Address: 0562H
(Number #9)
0563H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY9
Operational
Panel / Software
Interface:
Communication
Default: 2500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 10 Delay Time of PR mode
P5-50
Delay Time After Position Completed Address: 0564H
(Number #10)
0565H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY10
Operational
Panel / Software
Interface:
Communication
Default: 3000
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 11 Delay Time of PR mode
P5-51
Delay Time After Position Completed Address: 0566H
(Number #11)
0567H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY11
Operational
Panel / Software
Interface:
8-158
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: 3500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 12 Delay Time of PR mode
P5-52
Delay Time After Position Completed Address: 0568H
(Number #12)
0569H
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY12
Operational
Panel / Software
Interface:
Communication
Default: 4000
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 13 Delay time of PR mode
P5-53
Delay Time After Position Completed Address: 056AH
(Number #13)
056BH
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY13
Operational
Panel / Software
Interface:
Communication
Default: 4500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
April, 2013
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ASDA-M
Chapter 8 Parameters
Format: DEC
th
Settings: The 14 Delay time of PR mode
P5-54
Delay Time After Position Completed Address: 056CH
(Number #14)
056DH
Related Section:
Parameter
Parameter for individual axis
Section 7.10
Attribute:
DLY14
Operational
Panel / Software
Interface:
Communication
Default: 5000
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 15 Delay time of PR mode
P5-55
Delay Time After Position Completed Address: 056EH
(Number #15)
056FH
Parameter
Related Section:
Parameter for individual axis
Section 7.10
Attribute:
DLY15
Operational
Panel / Software
Interface:
Communication
Default: 5500
Control
Mode:
PR
Unit: ms
Range: 0 ~ 32767
Data Size: 16bit
Format: DEC
th
Settings: The 16 Delay Time of PR mode
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April, 2013
Chapter 8 Parameters
P5-56
ASDA-M
COMPARE - Start Address of Data Address: 0570H
Array
0571H
Parameter
Related Section:
Parameter for individual axis
Section 7.11.2
Attribute:
CMST
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ (The value of P5-10 minus 1)
Data Size: 16bit
Format: DEC
Settings: The first COMPARE data is saved in the address of data array.
NOTE It is writable only when COMPARE stops (please refer to P5-59)
P5-57■
CMAX
COMPARE - Axis Position
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0572H
0573H
Related Section:
Section 7.11.2
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: The axis position of COMPARE pulse source is displayed here.
It is writable only when COMPARE stops (please refer to P5-59)
April, 2013
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Chapter 8 Parameters
NOTE 1) It is write-protected when the source is Capture axis.
2) When the source is the main encoder, P5-57 is also
write-protected. The pulse revolution is determined by
parameter P1-46. When P5-59.Y is set to the main encoder,
this parameter is set to the motor feedback position (monitor
variable 00h). If this parameter is not the same as the motor
feedback position due to homing or reset by CAP function, the
user can set P5-59.Y = 0 and then P5-59.Y = 3. In this way,
this parameter will be reset to the motor feedback position.
P5-58■
CMNO
COMPARE - Compare Amount
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0574H
0575H
Related Section:
Section 7.11.2
Communication
Default: 1
Control
Mode:
ALL
Unit: Range: 1 ~ (the value set by P5-10 minus the
value set by P5-56)
Data Size: 16bit
Format: DEC
Settings: When COMPARE stops, it means the number of data that expect
to compare (readable and writable)
When COMPARE activates, it means the number of data that has
not been compared (read-only); Every time, when it compares
one data, the value of P5-38 will minus one. When the value is 0,
it means the comparing is completed.
P5-59
CMCT
COMPARE - Activate CMP Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0576H
0577H
Related
Section:
Section 7.11.2
Communication
Default: 00640010h
Control
Mode:
8-162
ALL
April, 2013
Chapter 8 Parameters
ASDA-M
Unit: Range: 00010000h ~0x 0FFF313F
Data Size: 32bit
Format: HEX
Settings:
X: See the following table
Y: 0-When selecting CAPTURE AXES, the source of CAP
cannot be changed.
1-AUX ENC (linear scale) is set as the source
2-PULSE Cmd
3-Main ENC (main encoder)
Z: 0-NO, 1-NC outputs the polarity
U: See table U below
CBA: Output the Pulse length; Unit: 1ms
bit
X function
Description
3
2
1
Cycle mode
0
CMP is
After
When
finishing
finishing
comparing,
comparing,
the counter
CAP is
returns to 0.
activated
As soon as
It is invalid
the last data
when CAP
compare
is
is activated
when this bit
activated
Never end
Starts to
compared,
is set to 1. It
P5-57 is set
returns to 0
to 0.
when
finishing
comparing.
April, 2013
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ASDA-M
Chapter 8 Parameters
bit 0: When the value of P5-58 is more than 0, set bit to 1 will
activate CMP. When comparing one data, the value of
P5-58 will minus 1. When P5-58 is set to 0, the comparing
is completed and returns to 0. If P5-58 is 0, set bit 0 to 1 will
not do any comparing and return to 0 automatically. If bit 0
has already been set to 1, it is not allowed to write 1 as the
new value into the parameter. But it is ok to write 0 to
disable CMP.
bit 1: If this bit is 1, P5-58 will be reset after comparing the last
data. Then, start from the first data again. The cycle will
never end and bit 0 is always 1.
bit 2: If this bit is 1, CAP will be activated after comparing the last
data. (Set bit 0 of P5-39 to 1 and reset P5-38 to the previous
value) If CAP has already been activated, this function is
invalid.
bit 3: If this bit is 1, set the counter (P5-57) to 0 after comparing
the last data. For example, if the comparing data is set to
3000 (one data in total), the default value of the counter
(P5-57) is 0. It is expected to input 4000 pulse. When it
reaches the 3000th pulse, the CMP is completed and P5-57
returns to 0. When the pulse reaches 4000, P5-57=1000.
(No accumulative error)
The definition of each bit of is as follows:
bit
15
14
13
12
U function
-
-
Follow CAP
-
Description
-
-
CMP data is set
-
by CAP
P5-60
POV0
Target Speed Setting #0
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
8-164
Address: 0578H
0579H
Related Section:
Section 7.10
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: 20.0
200
Control
Mode:
PR
Unit: 1 r/min
0.1 r/min
Range: 0.1 ~ 6000.0
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 15 = 15 r/min
150 = 15 r/min
st
Settings: The 1 target speed of PR mode
P5-61
POV1
Target Speed Setting #1
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 50.0
Address: 057AH
057BH
Related Section:
Section 7.10
Communication
500
Control
Mode:
PR
Unit: 1 r/min
0.1 r/min
Range: 0.1 ~ 6000.0
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
nd
Settings: The 2
P5-62
POV2
10 = 1 r/min
target speed of PR mode
Target Speed Setting #2
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 100.0
Address: 057CH
057DH
Related Section:
Section 7.10
Communication
1000
Control
Mode:
PR
Unit: 1 r/min
April, 2013
0.1 r/min
8-165
ASDA-M
Chapter 8 Parameters
Range: 0.1 ~ 6000.0
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
rd
Settings: The 3 target speed of PR mode
P5-63
POV3
Target Speed Setting #3
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 200.0
Address: 057EH
057FH
Related Section:
Section 7.10
Communication
2000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 4 target speed of PR mode
P5-64
POV5
Target Speed Setting #4
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 300.0
Address: 0582H
0583H
Related Section:
Section 7.10
Communication
3000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
8-166
April, 2013
Chapter 8 Parameters
ASDA-M
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 5 target speed of PR mode
P5-65
POV5
Target Speed Setting #5
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 500.0
Address: 0582H
0583H
Related Section:
Section 7.10
Communication
5000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 6 target speed of PR mode
P5-66
POV6
Target Speed Setting #6
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 600.0
Address: 0584H
0585H
Related Section:
Section 7.10
Communication
6000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 7 target speed of PR mode
April, 2013
8-167
ASDA-M
P5-67
Chapter 8 Parameters
POV7
Target Speed Setting #7
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 800.0
Address: 0586H
0587H
Related Section:
Section 7.10
Communication
8000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 8 target speed of PR mode
P5-68
POV8
Target Speed Setting #8
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 1000.0
Address: 0588H
0589H
Related Section:
Section 7.10
Communication
10000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 9 target speed of PR mode
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April, 2013
Chapter 8 Parameters
P5-69
POV9
ASDA-M
Target Speed Setting #9
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 1300.0
Address: 058AH
058BH
Related Section:
Section 7.10
Communication
13000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 10 target speed of PR mode
P5-70
POV10
Target Speed Setting #10
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Defalt: 1500.0
Address: 058CH
058DH
Related Section:
Section 7.10
Communication
15000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 11 target speed of PR mode
April, 2013
8-169
ASDA-M
P5-71
Chapter 8 Parameters
POV11
Target Speed Setting #11
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 1800.0
Address: 058EH
058FH
Related Section:
Section 7.10
Communication
18000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 12 target speed of PR mode
P5-72
POV12
Taget Speed Setting #12
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 2000.0
Address: 0590H
0591H
Related Section:
Section 7.10
Communication
20000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 13 target speed of PR mode
8-170
April, 2013
Chapter 8 Parameters
P5-73
POV13
ASDA-M
Target Speed Setting #13
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 2300.0
Address: 0592H
0593H
Related Section:
Section 7.10
Communication
23000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 14 target speed of PR mode
P5-74
POV14
Target Speed Setting #14
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 2500.0
Address: 0594H
0595H
Related Section:
Section 7.10
Communication
25000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 15 target speed of PR mode
April, 2013
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ASDA-M
P5-75
Chapter 8 Parameters
POV15
Target Speed Setting #15
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Default: 3000.0
Address: 0596H
0597H
Related Section:
Section 7.10
Communication
30000
Control
Mode:
PR
Unit: 1 r/min
Range: 0.1 ~ 6000.0
0.1 r/min
1 ~ 60000
Data Size: 16bit
Format: DEC
Example: 1 = 1 r/min
10 = 1 r/min
th
Settings: The 16 target speed of PR mode
P5-76★
CPRS
CAPTURE - First Position Reset Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0598H
0599H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -1073741824 ~ +1073741823
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P5-39 X 1
8-172
April, 2013
Chapter 8 Parameters
P5-77■
ASDA-M
The Position of Synchronous Capture Address: 059AH
Axis (CAP SYNC AXES)
059BH
Related Section: Parameter
Parameter for individual axis
Attribute:
CSAX
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: The position of this axis will synchronize with CAP signal. That is
to say, when activating CAP every two times, the motor moving
distance of this axis is the value of P5-78. (There is no
accumulative error and only in single-way operation) The
synchronous capture axis can be the source of Master.
P5-78
The Interval Pulse Number between Address: 059CH
Each Synchronous Capture Axis
059DH
Related Section: Parameter
Parameter for individual axis
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 100
Control
Mode:
ALL
Unit: Pulse
Range: 10 ~ +100000000
Data Size: 32bit
Format: DEC
Settings: It is the moving distance of synchronous capture axis between
two CAP actions.
The new value can be written into the parameter not until CAP is
disabled (P5-39, X0=0).
April, 2013
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ASDA-M
P5-79■
Chapter 8 Parameters
Error Pulse Number of Synchronous Address: 059EH
Capture Axis
059FH
Related Section: Parameter
Parameter for individual axis
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Pulse
Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: When synchronous capture axis is operating, the synchronous
error should be 0. This parameter shows this error value. The
followings are its concept:
Synchronous Error
=
Output value of synchronous axis-
Setting value of synchronous axis
=
the accumulative amount of P5-77-
(P5-78 x Capturing number of times)
When capturing the data, the synchronous aixs works normally.
This parameter updates once.
This parameter can be written into as well. It indicates the offset
of synchronous master. When the synchronous capture axis is
regarded as the master of flying shear, modify this parameter can
deviate the cutting position to the left/right.
P5-80
Max. Correction Rate of Synchronous Address: 05A0H
Capture Axis
05A1H
Related Section: Parameter
Parameter for individual axis
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 10
Control
Mode:
ALL
Unit: %
Range: 0 ~ 90
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Data Size: 16bit
Format: DEC
Settings: This parameter limits the percentage (%) of synchronous
adjustment.
Correction rate pulse number output by synchronous axis
/pulse number input by synchronous axis 100 P5
80 %
100
5 80 %
The bigger correction rate, the faster the synchronous error
becomes 0. However, the speed changing will be more severe.
The smaller correction rate, the slower the synchronous error
becomes 0. However, the speed changing will be more smooth.
In the application of flying shear, after adjusting the synchronous
error, P5-79: the bigger parameter value will reduce the time the
slave axis goes to the desired position. However, the speed is not
synchronized.
P5-81
ECHD
E-CAM: Start Address of Data Array
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05A2H
05A3H
Related Section:
Section 7.11
Communication
Default: 100
Control
Mode:
PR
Unit: Range: 0 ~(800-P5-82)
Data Size: 16bit
Format: DEC
Settings: The first data of E-Cam table is saved in the address of data
array.
NOTE This parameter can be set anytime, but will be effective only when
pre-engaged → engaged.
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P5-82
Chapter 8 Parameters
ECMN
E-CAM: Area Number N (at least >=5)
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05A4H
05A5H
Related Section:
Section 7.11
Communication
Default: 5
Control
Mode:
PR
Unit: Range: 5 ~ 720, must < = (P5-10-P5-81)
And P5-82 x P5-84 <= 2147483647
Data Size: 16bit
Format: DEC
Settings: It means the E-Cam curve is divided into N zone, and the table
should include N+1 data.
NOTE This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
P5-83
ECMM
E-CAM: Master Gear Ratio Setting M
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05A6H
05A7H
Related Section:
Section 7.11
Communication
Default: 1
Control
Mode:
PR
Unit: Range: 1 ~ 32767
Data Size: 16bit
Format: DEC
Settings: When receiving pulse number P of the Master, E-Cam will rotate
M cirle, which means the M cycle of the cam table.
NOTE This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
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P5-84
ECMP
ASDA-M
E-CAM: Master Gear Ratio Setting P
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05A8H
05A9H
Related Section:
Section 7.11
Communication
Default: 3600
Control
Mode:
PR
Unit: Range: 10 ~ 1073741823,
and P5-82 x P5-83 <= P5-84
and P5-82 x P5-84 <= 2147483647
Data Size: 32bit
Format: DEC
Settings: When receiving pulse number P of the Master, E-Cam will rotate
M circle, which means the M cycle of the cam table.
NOTE This parameter can be modified anytime, and has no limit that
mentioned above.
P5-85
ECME
E-CAM: Number of Area
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05AAH
05ABH
Related Section:
Section 7.11
Communication
Default: 0
Control
Mode:
PR
Unit: Range: 0 ~ ( P5-82-1 )
Data Size: 16bit
Format: DEC
Settings: The area number of E-cam when E-cam engaged.
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P5-86■
Chapter 8 Parameters
ECAX
E-CAM: Master Axis Position
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05ACH
05ADH
Related Section:
Section 7.11
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: The position counter of the E-Cam Master
NOTE This parameter can be wrote when E-Cam stops (Please refer
toP5-88, X=0).
P5-87
PLED
E-CAM: Lead Pulse
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05AEH
05AFH
Related Section:
Section 7.11
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -1073741824 ~ +1073741823
Data Size: 32bit
Format: DEC
Settings: When the engaging condition (P5-88.Z) of E-cam is satisfied, the
pulse number from the master has to exceed the setting value of
this parameter, so that E-cam is fully engaged.
In other words, E-cam engages after neglecting the lead pulse
specified by this parameter.
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If the symbol of this parameter is + , it means the received forward
pulse is regarded as the lead pulse
If the symbol of this parameter is - , it means the received reverse
pulse is regarded as the lead pulse
P5-88■
ECON
E-CAM: Activate E-Cam Control
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05B0H
05B1H
Related Section:
Section 7.11
Communication
Default: 00000000h
Control
Mode:
PR
Unit: Range: 0 ~ 0x206FF251
Data Size: 32bit
Format: HEX
Settings: The format of this parameter: (High word h) S0BA:(Low word L)
UZYX
Definition of each column is as follows:
 X: E-Cam command
0: Disable
1: Activate (When E-Cam mode is activated, the content of
the other column cannot be changed.)
 Y: Command source
0: CAP axis
1: AUX ENC
2: Pulse Cmd
3: PR command
4: Time Axis (1ms)
5: Synchronous Capture Axis (P5-77)
 Z: Engaging Time (No multiple choice)
0: Immediately
1: DI.CAM ON
2: Any one of the Capture
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
U: Disengaging Condition (2, 4 and 6 cannot be selected at
the same time)
U
0
Disengaged Condition
Never disengaged
-
1
DI:CAM OFF
In STOP status
2
Master axis receives the pulse number
which is set by P5-89 and stops
immediately. (The symbol represents the
direction)
Same as 2, the E-cam starts to
decelerate when disengaging. It is
suitable for the application of calling the
next PR position command right after
disengaged.
Master axis receives the pulse number
which is set by P5-89 and stops
immediately. (The symbol represents the
direction)
Disable E-cam after disengaging
6
4
8
NOTE
In STOP status
Back to the pre-engage
status
The lead pulse is P5-92
Set X to 0
The servo is Off, when ALM or forward/reverse limit occur or PR
is doing homing procedure, it disengages (P5-88, X = 0)


P5-89
Action after disengaged
BA: When disengaging condition is statisfied (P5-88, U=2,
4, 6), a PR 00~63 (hexadecimal; 00 means no action) will
automatically be executed.
S:Shows the engage status (Read-only, the setting is invalid)
0: Stop
1: Engage status
2: Pre-engage status
E-CAM: Information of Disengaging Address: 05B2H
Time
05B3H
Parameter
Related Section:
Parameter for individual axis
Section 7.11
Attribute:
ECRD
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -1073741824 ~ +1073741823
Data Size: 32bit
Format: DEC
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Settings: (Please refer to the definition of P5-88 U setting value 2)
P5-90
E-CAM: AREA No.+The Point of DO Address: 05B4H
05B5H
ON
Parameter
Related Section:
Parameter for individual axis
Section 7.11
Attribute:
CMAP
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Angle (It was changed after firmware
V1.009)
Range: 0 ~ 360
Data Size: 16bit
Format: DEC
Settings: When E-cam is engaged, set the start angle of DO output (DO.
CAM_AREA).
P5-91
E-CAM: AREA No. - The Point of DO Address: 05B6H
OFF
05B7H
Parameter
Related Section:
Parameter for individual axis
Section 7.11
Attribute:
CMAN
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Angle (It was changed after firmware
V1.009)
Range: 0 ~ 360
Data Size: 16bit
Format: DEC
Settings: When E-cam is engaged, set the end angle of DO output (DO.
CAM_AREA).
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P5-92
Chapter 8 Parameters
E-CAM: Pre-engaged Time of Each Address: 05B8H
Cycle
05B9H
Parameter
Related Section:
Parameter for individual axis
Section 7.11
Attribute:
PLED
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -100000000 ~ +100000000
Data Size: 32bit
Format: DEC
Settings: This parameter goes with the selection of P5-88, U=4 (E-cam will
disengage if it exceeds the moving distance):
After disengaging, it does not enter the Stop status but
pre-engaged status. The lead pulse is determined by this
parameter.
The pulse number sent by the Master must exceed the setting
value of this parameter so that E-cam will engage again.
In other words, E-cam will engage not until the lead pulse is
ignored.
If the symbol of this parameter is +, it means the received
positive pulse will be regarded as the lead pulse.
If the symbol of this parameter is -, it means the received
negative pulse will be regarded as the lead pulse.
P5-93
Motion Control
Macro Command: Address: 05BAH
Command Parameter # 4
05BBH
Parameter
Related Section: Parameter for three axes
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
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Data Size: 32bit
Format: DEC
Settings: Before issuing the macro command, the relevant parameters # 4
must be set in advance.
The function of the parameter is determined by the macro
command. Not every macro command has its relevant
parameters.
P5-94
Motion Control
Macro Command: Address: 05BCH
Command Parameter # 3
05BDH
Related
Section:
Parameter
Parameter for three axes
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Before issuing the macro command, the relevant parameters # 3
must be set in advance.
The function of the parameter is determined by the macro
command. Not every macro command has its relevant
parameters.
P5-95
Motion Control
Macro Command: Address: 05BEH
Command Parameter # 2
05BFH
Related
Section:
Parameter
Parameter for three axes
Interface:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
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Chapter 8 Parameters
Data Size: 32bit
Format: DEC
Settings: Before issuing the macro command, the relevant parameters # 2
must be set in advance.
The function of the parameter is determined by the macro
command. Not every macro command has its relevant
parameters.
P5-96
Motion Control
Macro Command: Address: 05C0H
Command Parameter # 1
05C1H
Related
Section:
Parameter
Parameter for three axes
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Before issuing the macro command, the relevant parameters # 1
must be set in advance.
The function of the parameter is determined by the macro
command. Not every macro command has its relevant
parameters.
P5-97■
Motion Control Macro Command: Issue Address: 05C2H
Command / Executing Result
05C3H
Related Section: Parameter
Parameter for individual axis
Attribute:
CSDS
Operational
Panel / Software
Interface:
Communication
Default: 100
Control
Mode:
ALL
Unit: pulse
Range: 0 ~ 0x0999
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Data Size: 16 bit
Format: HEX
Settings: Write-in: It is used to issue the macro command (0CBAh)
Read: It is used to examine the execution result of macro
command (If success, the result will be sent back to
1CBAh).
If the command issues 0001, 1001h will be sent back when
success; and Fxxxh when failed (depending on the command
description).
If issuing the command that is not supported, the failure code
F001h will be sent back.
The provided command code is as the followings.
Command code 0003h
Motion parameter protection: password setting,
protection activation
Macro parameters
P5-94= Protection level of data array (0~7)
P5-95= Set new password (1~16777215)
P5-96= Confirm new password (1~16777215)
Among them:
For success setting, the setting of P5-95 must
equal to P5-96 and the password must be set
within the allowable range.
This function can be executed before activating the function of parameter
protection.
If the protection function is activated, when repeatly execute this function,
the failure code will be sent back.
Failure code F031h
Protection function has been activated and
cannot be set repeatly.
Failure code F032h
Wrong password setting: P5-95 not equals to
P5-96.
Failure code F033h
Password setting exceeds the allowable range
(1~16777215).
Failure code F034h
The
protection
level,
P5-94
exceeds
the
allowable range (0~7).
Success code: 1003h
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Chapter 8 Parameters
Command code 0004h
Motion parameter protection: unlock the
protection
Macro parameters
P5-96= enter the password (1~16777215)
This function can be executed when activating the function of parameter
protection.
If the protection function is unlocked, repeatly execute this function will sent
back the failure code.
If enter the wrong password, failure code Ennn will be sent back. nnn means
the rest decode number. It will be minused one number after one failure.
When the number is 0, it will be locked for good.
Failure code F041h
Protection function is unlocked and it cannot not
repeatly unlock.
Failure code F043h
The password setting exceed the allowable range
(1~16777215).
Failure code F044h
The number of times of entering wrong password
exceeds the limit: Lock for good.
Reset the parameter (P2-08=10) to unlock it is
the only method. However, all parameter will
return to the default value.
Failure code Ennnh
Incorrect password setting: Failed to unlock.
nnn: the rest decode number. It will be minused
one number after one failure. When the number is
0, it will be locked for good.
Success code: 1004h
P5-98
EVON
PR# Triggered by Event Rising-Edge
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05C4H
05C5H
Related Section:-
Communication
Default: 0
Control
Mode:
PR
Unit: Range: 0000 ~ 0xDDDD
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Data Size: 16bit
Format: HEX
Settings: Four items: UZYX
When EVx is set to ON, the PR# which will be executed
X=0: When EV1 is ON, PR will not be triggered.
X=1~D: When EV1 is ON, execute PR # 51~63.
Y=0: When EV2 is ON, PR will not be triggered.
Y=1~D: When EV2 is ON, execute PR # 51~63.
Note: EV3 and EV4 are supported after firmware V1.009.
Z=0: When EV3 is ON, PR will not be triggered.
Z=1~D: When EV3 is ON, execute PR # 51~63.
U=0: When EV3 is ON, PR will not be triggered.
U=1~D: When EV4 is ON, execute PR # 51~63.
P5-99
EVOF
PR# Triggered by Event Falling-Edge
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 05C6H
05C7H
Related Section: -
Communication
Default: 0
Control
Mode:
PR
Unit: Range: 0000 ~ 0xDDDD
Data Size: 16bit
Format: HEX
Settings: Four items: UZYX
When EVx is set to OFF, the PR# which will be executed
X=0: When EV1 is OFF, PR will not be triggered.
X=1~D: When EV1 is OFF, execute PR # 51~63.
Y=0: When EV2 is OFF, PR will not be triggered.
Y=1~D: When EV2 is OFF, execute PR # 51~63.
Note: EV3 and EV4 are supported after firmware V1.009.
Z=0: When EV3 is OFF, PR will not be triggered.
Z=1~D: When EV3 is OFF, execute PR # 51~63.
U=0: When EV4 is OFF, PR will not be triggered.
U=1~D: When EV4 is OFF, execute PR # 51~63.
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Chapter 8 Parameters
P6-xx PR Parameters (Please refter to Chapter 7 for detailed setting)
P6-00
ODEF
Address: 0600H
0601H
Related Section:
Section 7.10
Homing Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0x10FFFF6F
Data Size: 32bit
Format: HEX
Settings: Homing definition:
31 ~
28
BOOT
2B
27 ~
24
-
3B
23 ~
20
DLY
4B
19 ~ 15 ~ 11 ~ 8
16
12
DEC2 DEC1
ACC
5B
6B
7~4
3~0
BIT
PATH
0B

PATH: Path type (4 BIT)
0: Stop: Homing complete and stop.
1 ~ 99: Auto: Homing complete and execute the specified
path.

ACC: Select 0~F for acceleration time and corresponds to
P5-20~P5-35.

DEC1/DEC2: The deceleration time selection of 1st / 2nd
homing, the setting value of DEC is 0~F and corresponds to
P5-20~ P5-35.

DLY: Select 0~F for the delay time and corresponds to P5-40
~P5-55.

BOOT: When the servo drive applies to the power, if
searching the origin will be executed.
0: Do not do homing
1: Execute homing automatically (SRV ON for the first time
after appling to power)
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
Apart from the above mentioned definition, the related setting
of homing also includes:
1. P5-04 Homing mode
2. P5-05~P5-06 Speed setting of searching the origin
3. P6-01: ORG_DEF is the location of the origin. It may not
be 0. This function is the offset of coordinate
system.
A. After the origin is found (Sensor or Z), it has to decelerate
to stop. The stop position will exceed the origin for a
short distanct.
If it does not return to the origin, set PATH to 0.
If it needs to return to the origin, set PATH to non-zero
value and set PABS=ORG_DEF.
B. If the origin is found (Sensor or Z), desire to move an
offset S and define the coordinate as P after moving,
then PATH = non-zer and set ORG_DEF = P-S. The
absolute position command=P.
P6-01
ODAT
Address: 0602H
0603H
Related Section:
Section 7.10
Origin Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Value of origin definition:
31 ~
28
7B
April, 2013
27 ~
24
8B
23 ~
20
9B
19 ~
15 ~ 11 ~ 8
16
12
ORG_DEF (32 bit)
10B
11B
7~4
3~0
BIT
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P6-02
Chapter 8 Parameters
PDEF1
Address: 0604H
0605H
Related Section:
Section 7.10
PATH#1 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Properties of PATH# 1:
31 ~ 27 ~ 23 ~ 19 ~ 15 ~ 11 ~ 8 7 ~ 4 3 ~ 0
28
24
20
16
12
BIT
P6-02
DLY
OPT TYPE
P6-03
DATA (32 bit)
12B

13B
14B
15B
16B
TYPE, OPT:
OPT
7
-
6
TYPE
5
UNIT AUTO
4 BIT 3 ~ 0 BIT
INS 1: SPEED, Speed setting control
2: SINGLE, Positioning control. It
will stop when finished.
CMD
OVLP
INS 3: AUTO positioning control. It will
load in the next path when
finished.
AUTO 4: Multi-axis linear interpolation
-
-
AUTO
-
-
-
-
-
AUTO
CMD
8-190
-
5: FEED RATE setting
INS 7: JUMP to the specified path
INS
OVLP AUTO
8: Write the specified parameter
to the specified path
E: Three-axis helical interpolation
F: Two-axis circular interpolation
April, 2013
Chapter 8 Parameters
ASDA-M

TYPE: 1 ~ 4 and E ~ F accept DO.STP stop and software
limit.

INS: When executing this PR, it interrupts the previous one.

OVLP: Allow the overlap of the next path. The overlap is not
allowed in speed mode. When overlap happens in position
mode, DLY has no function.

AUTO: When PR procedure completes,
procedure will be loaded in automatically.

CMD: Refer to Chapter 7 for PR command description.

DLY: 0 ~ F, delay time number (4 BIT). The delay after
executing this PR. The external INS is invalid.
PDAT1
next
Index P5-40 ~ P5-55
DLY (4)
P6-03
the
Address: 0606H
0607H
Related Section:
Section 7.10
PATH#1 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: PATH# 1 Data
31 ~
27 ~
28
24
19 ~
15 ~
3~0
11 ~ 8 7 ~ 4
16
12
BIT
DATA (32 bit)
Property of P6-02; P6-03 corresponds to the target position of
P6-02 or jump to PATH_NO.
17B
18B
23 ~
20
19B
20B
21B
NOTE PATH (procedure)
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P6-04
Chapter 8 Parameters
PDEF2
PATH#2 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0608H
0609H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-05
PDAT2
PATH#2 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 060AH
060BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-06
PDEF3
PATH#3 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 060CH
060DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-07
PDAT3
PATH#3 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 060EH
060FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-08
PDEF4
PATH#4 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0610H
0611H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
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Settings: Please refer to the description of P6-02
P6-09
PDAT4
PATH#4 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0612H
0613H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-10
PDEF5
PATH#5 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0614H
0615H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-11
PDAT5
PATH#5 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
8-194
Address: 0616H
0617H
Related Section:
Section 7.10
Communication
April, 2013
Chapter 8 Parameters
ASDA-M
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-12
PDEF6
PATH#6 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0618H
0619H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-13
PDAT6
PATH#6 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 061AH
061BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
April, 2013
8-195
ASDA-M
Chapter 8 Parameters
Format: DEC
Settings: Please refer to the description of P6-03
P6-14
PDEF7
PATH#7 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 061CH
061DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-15
PDAT7
PATH#7 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 061EH
061FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
8-196
April, 2013
Chapter 8 Parameters
P6-16
PDEF8
ASDA-M
PATH#8 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0620H
0621H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-17
PDAT8
PATH#8 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0622H
0623H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-18
PDEF9
PATH#9 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0624H
0625H
Related Section:
Section 7.10
Communication
Default: 0x00000000
April, 2013
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Chapter 8 Parameters
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-19
PDAT9
PATH#9 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0626H
0627H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-20
PDEF10
PATH#10 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0628H
0629H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
8-198
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-02
P6-21
PDAT10
PATH#10 Date
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 062AH
062BH
Related Section:
Section: 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-22
PDEF11
PATH#11 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 062CH
062DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
April, 2013
8-199
ASDA-M
P6-23
Chapter 8 Parameters
PDAT11
PATH#11 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 062EH
062FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-24
PDEF12
PATH#12 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0630H
0631H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-25
PDAT12
PATH#12 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0632H
0633H
Related Section:
Section 7.10
Communication
Default: 0
8-200
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-26
PDEF13
PATH#13 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0634H
0635H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-27
PDAT13
PATH#13 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0636H
0637H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
April, 2013
8-201
ASDA-M
Chapter 8 Parameters
Settings: Please refer to the description of P6-03
P6-28
PDEF14
PATH#14 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0638H
0639H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-29
PDAT14
PATH#14 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 063AH
063BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
8-202
April, 2013
Chapter 8 Parameters
P6-30
PDEF15
ASDA-M
PATH#15 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 063CH
063DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-31
PDAT15
PATH#15 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 063EH
063FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-32
PDEF16
PATH#16 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0640H
0641H
Related Section:
Section 7.10
Communication
Default: 0x00000000
April, 2013
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Chapter 8 Parameters
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-33
PDAT16
PATH#16 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0642H
0643H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-34
PDEF17
PATH#17 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0644H
0645H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
8-204
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-02
P6-35
PDAT17
PATH#17 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0646H
0647H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-36
PDEF18
PATH#18 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0648H
0649H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
April, 2013
8-205
ASDA-M
P6-37
Chapter 8 Parameters
PDAT18
PATH#18 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 064AH
064BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-38
PDEF19
PATH#19 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 064CH
064DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-39
PDAT19
PATH#19 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 064EH
064FH
Related Section:
Section 7.10
Communication
Default: 0
8-206
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-40
PDEF20
PATH#20 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0650H
0651H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-41
PDAT20
PATH#20 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0652H
0653H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
April, 2013
8-207
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Chapter 8 Parameters
Settings: Please refer to the description of P6-03
P6-42
PDEF21
PATH#21 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0654H
0655H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-43
PDAT21
PATH#21 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0656H
0657H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-44
PDEF22
PATH#22 Definition
Parameter
Parameter for individual axis
Attribute:
8-208
Address: 0658H
0659H
Related Section:
Section 7.10
April, 2013
Chapter 8 Parameters
ASDA-M
Operational
Panel / Software
Interface:
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-45
PDAT22
PATH#22 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 065AH
065BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-46
PDEF23
PATH#23 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 065CH
065DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: April, 2013
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ASDA-M
Chapter 8 Parameters
Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-47
PDAT23
PATH#23 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 065EH
065FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-48
PDEF24
PATH#24 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0660H
0661H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-210
April, 2013
Chapter 8 Parameters
P6-49
PDAT24
ASDA-M
PATH#24 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0662H
0663H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-50
PDEF25
PATH#25 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0664H
0665H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-51
PDAT25
PATH#25 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0666H
0667H
Related Section:
Section 7.10
Communication
Default: 0
April, 2013
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Chapter 8 Parameters
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-52
PDEF26
PATH#26 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0668H
0669H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-53
PDAT26
PATH#26 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 066AH
066BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-212
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-03
P6-54
PDEF27
PATH#27 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 066CH
066DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-55
PDAT27
PATH#27 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 066EH
066FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
8-213
ASDA-M
P6-56
Chapter 8 Parameters
PDEF28
PATH#28 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0670H
0671H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-57
PDAT28
PATH#28 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0672H
0673H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-58
PDEF29
PATH#29 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0674H
0675H
Related Section:
Section 7.10
Communication
Default: 0x00000000
8-214
April, 2013
Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-59
PDAT29
PATH#29 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0676H
0677H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-60
PDEF30
PATH#30 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0678H
0679H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
8-215
ASDA-M
Chapter 8 Parameters
Settings: Please refer to the description of P6-02
P6-61
PDAT30
PATH#30 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 067AH
067BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-62
PDEF31
PATH#31 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 067CH
067DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-216
April, 2013
Chapter 8 Parameters
P6-63
PDAT31
ASDA-M
PATH#31 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 067EH
067FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-64
PDEF32
PATH#32 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0680H
0681H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-65
PDAT32
PATH#32 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0682H
0683H
Related Section:
Section 7.10
Communication
Default: 0
April, 2013
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Chapter 8 Parameters
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-66
PDEF33
PATH#33 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0684H
0685H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-67
PDAT33
PATH#33 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0686H
0687H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-218
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-03
P6-68
PDEF34
PATH#34 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0688H
0689H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-69
PDAT34
PATH#34 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 068AH
068BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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Chapter 8 Parameters
PDEF35
PATH#35 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 068CH
068DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-71
PDAT35
PATH#35 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 068EH
068FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-72
PDEF36
PATH#36 Definition
Operational
Panel / Software
Interface:
Communication
Address: 0690H
0691H
Related Section:
Section 7.10
Default: 0x00000000
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Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-73
PDAT36
PATH#36 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0692H
0693H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-74
PDEF37
PATH#37 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0694H
0695H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P6-75
PDAT37
PATH#37 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0696H
0697H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-76
PDEF38
PATH#38 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0698H
0699H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-222
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Chapter 8 Parameters
P6-77
PDAT38
ASDA-M
PATH#38 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 069AH
069BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-78
PDEF39
PATH#39 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 069CH
069DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-79
PDAT39
PATH#39 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 069EH
069FH
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-80
PDEF40
PATH#40 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06A0H
06A1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-81
PDAT40
PATH#40 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06A2H
06A3H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-224
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ASDA-M
Settings: Please refer to the description of P6-03
P6-82
PDEF41
PATH#41 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06A4H
06A5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-83
PDAT41
PATH#41 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06A6H
06A7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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Chapter 8 Parameters
PDEF42
PATH # 42 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06A8H
06A9H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-85
PDAT42
PATH#42 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06AAH
06ABH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-86
PDEF43
PATH#43 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06ACH
06ADH
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-87
PDAT43
PATH#43 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06AEH
06AFH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size:32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-88
PDEF44
PATH#44 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06B0H
06B1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P6-89
PDAT44
PATH#44 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06B2H
06B3H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-90
PDEF45
PATH#45 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06B4H
06B5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-228
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Chapter 8 Parameters
P6-91
PDAT45
ASDA-M
PATH#45 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06B6H
06B7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-92
PDEF46
PATH#46 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06B8H
06B9H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-93
PDAT46
PATH#46 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06BAH
06BBH
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P6-94
PDEF47
PATH#47 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06BCH
06BDH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-95
PDAT47
PATH#47 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06BEH
06BFH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-230
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Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-03
P6-96
PDEF48
PATH#48 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06C0H
06C1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-97
PDAT48
PATH#48 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06C2H
06C3H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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Chapter 8 Parameters
PDEF49
PATH#49 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06C4H
06C5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P6-99
PDAT49
PATH#49 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 06C6H
06C7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
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ASDA-M
P7-xx PR Parameters (Please refter to Chapter 7 for detailed setting)
P7-00
PDEF50
PATH#50 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0700H
0701H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
NOTE PATH (procedure)
P7-01
PDAT50
PATH#50 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0702H
0703H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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P7-02
Chapter 8 Parameters
PDEF51
PATH#51 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0704H
0705H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-03
PDAT51
PATH#51 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0706H
0707H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-04
PDEF52
PATH#52 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0708H
0709H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-05
PDAT52
PATH#52 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 070AH
070BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-06
PDEF53
PATH#53 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 070CH
070DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Chapter 8 Parameters
Settings: Please refer to the description of P6-02
P7-07
PDAT53
PATH#53 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address 070EH
070FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-08
PDEF54
PATH#54 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0710H
0711H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-236
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P7-09
PDAT54
ASDA-M
PATH#54 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0712H
0713H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-10
PDEF55
PATH#55 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0714H
0715H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-11
PDAT55
PATH#55 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0716H
0717H
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-12
PDEF56
PATH#56 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0718H
0719H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-13
PDAT56
PATH#56 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 071EH
071FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-238
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ASDA-M
Settings: Please refer to the description of P6-03
P7-14
PDEF57
PATH#57 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 071CH
071DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-15
PDAT57
PATH#57 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 071EH
071FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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P7-16
Chapter 8 Parameters
PDEF58
PATH#58 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0720H
0721H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-17
PDAT58
PATH#58 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0722H
0723H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-18
PDEF59
PATH#59 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0724H
0725H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-19
PDAT59
PATH#59 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0726H
0727H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-20
PDEF60
PATH#60 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0728H
0729H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P7-21
PDAT60
PATH#60 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 072AH
072BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-22
PDEF61
PATH#61 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 072CH
072DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-242
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Chapter 8 Parameters
P7-23
PDAT61
ASDA-M
PATH#61 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 072EH
072FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-24
PDEF62
PATH#62 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0730H
0731H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-25
PDAT62
PATH#62 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0732H
0733H
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-26
PDEF63
PATH#63 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0734H
0735H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-27
PDAT63
PATH#63 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0736H
0737H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-244
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ASDA-M
Settings: Please refer to the description of P6-03
P7-28
PDEF64
PATH#64 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0738H
0739H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-29
PDAT64
PATH#64 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 073AH
073BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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P7-30
Chapter 8 Parameters
PDEF65
PATH#65 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 073CH
073DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-31
PDAT65
PATH#65 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 073EH
073FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-32
PDEF66
PATH#66 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0740H
0741H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-33
PDAT66
PATH#66 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0742H
0743H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-34
PDEF67
PATH#67 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0744H
0745H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P7-35
PDAT67
PATH#67 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0746H
0747H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-36
PDEF68
PATH#68 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0748H
0749H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-248
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Chapter 8 Parameters
P7-37
PDAT68
ASDA-M
PATH#68 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 074AH
074BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-38
PDEF69
PATH#69 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 074CH
074DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-39
PDEF70
PATH#69 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0750H
0751H
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-40
PDEF70
PATH#70 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0750H
0751H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-41
PDAT70
PATH#70 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0752H
0753H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-250
April, 2013
Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-03
P7-42
PDEF71
PATH#71 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0754H
0755H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-43
PDAT71
PATH#71 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0756H
0757H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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P7-44
Chapter 8 Parameters
PDEF72
PATH#72 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0758H
0759H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-45
PDAT72
PATH#72 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 075AH
075BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-46
PDEF73
PATH#73 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 075CH
075DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-47
PDAT73
PATH#73 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 075EH
075FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-48
PDEF74
PATH#74 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0760H
0761H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P7-49
PDAT74
PATH#74 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0762H
0763H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-50
PDEF75
PATH#75 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0764H
0765H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-254
April, 2013
Chapter 8 Parameters
P7-51
PDAT75
ASDA-M
PATH#75 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0766H
0767H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-52
PDEF76
PATH#76 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0768H
0769H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-53
PDAT76
PATH#76 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 076AH
076BH
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-54
PDEF77
PATH#77 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 076CH
076DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-55
PDAT77
PATH#77 Data
Parameter
Parameter for individual axis
Attribute:
Opertaional
Panel / Software
Interface:
Address: 076EH
076FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
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ASDA-M
Settings: Please refer to the description of P6-03
P7-56
PDEF78
PATH#78 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0770H
0771H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-57
PDAT78
PATH#78 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0772H
0773H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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P7-58
Chapter 8 Parameters
PDEF79
PATH#79 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0774H
0775H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-59
PDAT79
PATH#79 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0776H
0777H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-60
PDEF80
PATH#80 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0778H
0779H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-61
PDAT80
PATH#80 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 077AH
077BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-62
PDEF81
PATH#81 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 077CH
077DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P7-63
PDAT81
PATH#81 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 077EH
077FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-64
PDEF82
PATH#82 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0780H
0781H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-260
April, 2013
Chapter 8 Parameters
P7-65
PDAT82
ASDA-M
PATH#82 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0782H
0783H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-66
PDEF83
PATH#83 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0784H
0785H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-67
PDAT83
PATH#83 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0786H
0787H
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-68
PDEF84
PATH#84 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0788H
0789H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-69
PDAT84
PATH#84 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 078AH
078BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-262
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Chapter 8 Parameters
ASDA-M
Settings: Please refer to the description of P6-03
P7-70
PDEF85
PATH#85 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 078CH
078DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-71
PDAT85
PATH#85 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 078EH
078FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
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ASDA-M
P7-72
Chapter 8 Parameters
PDEF86
PATH#86 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0790H
0791H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-73
PDAT86
PATH#86 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0792H
0793H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-74
PDEF87
PATH#87 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0794H
0795H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Chapter 8 Parameters
ASDA-M
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-75
PDAT87
PATH#87 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0796H
0797H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-76
PDEF88
PATH#88 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 0798H
0799H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
April, 2013
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Settings: Please refer to the description of P6-02
P7-77
PDAT88
PATH#88 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 079AH
079BH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-78
PDEF89
PATH#89 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 079CH
079DH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
8-266
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Chapter 8 Parameters
P7-79
PDAT89
ASDA-M
PATH#89 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 079EH
079FH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-80
PDEF90
PATH#90 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07A0H
07A1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-81
PDAT90
PATH#90 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07A2H
07A3H
Related Section:
Section 7.10
Communication
Default: 0
April, 2013
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-82
PDEF91
PATH#91 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07A4H
07A5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-83
PDAT91
PATH#91 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07A6H
07A7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
8-268
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ASDA-M
Settings: Please refer to the description of P6-03
P7-84
PDEF92
PATH#92 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07A8H
07A9H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-85
PDAT92
PATH#92 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07AAH
07ABH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
April, 2013
8-269
ASDA-M
P7-86
Chapter 8 Parameters
PDEF93
PATH#93 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07ACH
07ADH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-87
PDAT93
PATH#93 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07AEH
07AFH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settigs: Please refer to the description of P6-03
P7-88
PDEF94
PATH#94 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07B0H
07B1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
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Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-89
PDAT94
PATH#94 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07B2H
07B3H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-90
PDEF95
PATH#95 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07B4H
07B5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
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Settings: Please refer to the description of P6-02
P7-91
PDAT95
PATH#95 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07B6H
07B7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-92
PDEF96
PATH#96 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07B8H
07B9H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
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P7-93
PDAT96
ASDA-M
PATH#96 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07BAH
07BBH
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-94
PDEF97
PATH#97 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07BCH
07BDH
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-95
PDAT97
PATH#97 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07BEH
07BFH
Related Section:
Section 7.10
Communication
Default: 0
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Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
P7-96
PDEF98
PATH#98 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07C0H
07C1H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-97
PDAT98
PATH#98 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07C2H
07C3H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
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Settings: Please refer to the description of P6-03
P7-98
PDEF99
PATH#99 Definition
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07C4H
07C5H
Related Section:
Section 7.10
Communication
Default: 0x00000000
Control
Mode:
PR
Unit: Range: 0x00000000 ~ 0xFFFFFFFF
Data Size: 32bit
Format: HEX
Settings: Please refer to the description of P6-02
P7-99
PDAT99
PATH#99 Data
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Address: 07C6H
07C7H
Related Section:
Section 7.10
Communication
Default: 0
Control
Mode:
PR
Unit: Range: -2147483648 ~ +2147483647
Data Size: 32bit
Format: DEC
Settings: Please refer to the description of P6-03
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Table 8.1 Function Description of Digital Input (DI)
Setting Value: 0x01
DI Name
SON
Function Description of Digital Input (DI)
When this DI is ON, servo is activated (Servo On).
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x02
DI Name
ARST
Function Description of Digital Input (DI)
After the alarm has been cleared, when the DI is ON the
drive will show that the alarm has been cleared.
Trigger Control
Method Mode
Rising
ALL
edge
triggered
Setting Value: 0x03
DI Name
Function Description of Digital Input (DI)
GAINUP In speed and position mode, when the DI is ON (P2-27
should be set to 1), the gain switched to the one multiplies
the switching rate.
Trigger Control
Method Mode
Level
PT, PR,
triggered
S
Setting Value: 0x04
Trigger Control
Method
Mode
CCLR Clear the pulse counter and the setting of parameter P2-50. Rising
PT, PR
edge
0: clear the position pulse deviation (It is suitable in PT
triggered,
mode). When DI is ON, the accumulative pulse deviation of Level
triggered
the drive will be cleared to 0.
DI Name
Function Description of Digital Input (DI)
Setting Value: 0x05
DI Name
Function Description of Digital Input (DI)
ZCLAMP When the speed is slower than the setting of zero speed
(P1-38), if the DI is ON, the motor stops ruuning.
Trigger Control
Method Mode
Level
S
triggered
Speed
Command
Setting value of
P1-38 (Zero speed)
ZCLAMP
input signal
OFF
ON
Motor Speed
Setting value of
P1-38 (Zero speed)
Time
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Setting Value: 0x06
DI Name
Function Description of Digital Input (DI)
CMDINV In PT and speed mode, when the DI is ON, the input
command will be in reverse direction.
Trigger Control
Method Mode
Level
S, T
triggered
Setting Value: 0x07
DI Name
Function Description of Digital Input (DI)
Trigger
Method
Control
Mode
Reserved
Setting Value: 0x08
DI Name
Function Description of Digital Input (DI)
CTRG In PR mode, after selecting the PR command (POS0 ~ 5),
when the DI is ON, the motor will rotate according to the
command issued by the register.
Trigger Control
Method Mode
Rising
PR
edge
triggered
Setting Value: 0x09
DI Name
Function Description of Digital Input (DI)
TRQLM In speed and position mode, when the DI is ON, the motor
torque will be limited, and the limited torque command will be
internal register (P1-12~P1-14) or analog voltage command.
Trigger Control
Method Mode
Level
PT, PR,
triggered
S
Setting Value: 0x0A
DI Name
Function Description of Digital Input (DI)
CTRY After activating the gantry function (Refer to the setting of
P2-58), this DI is ON and will disable the gantry function so
as to enable the users to issue the command and the
two-axis will be triggered to move individually.
(Firmware V1.005 sub00 will be available afterwards)
Trigger Control
Method Mode
Level
PT, PR
triggered
Setting Value: 0x10
DI Name
Function Description of Digital Input (DI)
SPDLM In torque mode, when the DI is ON, the motor speed will be
limited, the limited speed command will be internal register
or analog voltage command.
April, 2013
Trigger Control
Method Mode
Level
T
triggered
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Chapter 8 Parameters
Setting Value: 0x11, 0x12, 0x13, 0x1A, 0x1B, 0x1C
DI
Trigger Control
Function Description of Digital Input (DI)
Name
Method Mode
POS0 PR Command Selection (1~64)
Level
PR
POS1 Position
Corresponding triggered
POS5 POS4 POS3 POS2 POS1 POS0 CTRG
parameter
POS2 command
P6-00
POS3 Homing
0
0
0
0
0
0
P6-01
POS4
P6-02
POS5 Procedure 0
0
0
0
0
1
1
~
Procedure
50
Procedure
51
~
Procedure
63
P6-03
1
1
0
0
1
0
1
1
0
0
1
1
1
1
1
1
1
1
P6-98
P6-99
P7-00
P7-01
P7-26
P7-27
Setting Value: 0x14, 0x15
DI Name
SPD0
SPD1
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Trigger Control
Method Mode
Level
S
triggered
Function Description of Digital Input (DI)
Internal Speed Command Selection (1~4)
DI signal of
Speed
CN1
command
Command Source
number SPD1 SPD0
S1
0
0
S2
0
1
S3
1
0
S4
1
1
Content
Range
Voltage
External deviation
between +/-10 V
S analog
command V-REF and
Mode
GND
Speed
Sz
N/A
command
0
is 0
+/-5000
P1-09
r/min
+/-5000
P1-10
Register parameter
r/min
+/-5000
P1-11
r/min
April, 2013
Chapter 8 Parameters
ASDA-M
Setting Value: 0x16, 0x17
DI Name
Trigger Control
Method Mode
Level
T
triggered
Function Description of Digital Input (DI)
TCM0 Internal Torque Command Selection (1~4)
TCM1
DI signal of
Torque
CN1
command
Command Source
number TCM1 TCM0
Content
Range
1B
T1
0
0
T2
0
1
T3
1
0
T4
1
1
Voltage
deviation
Analog
T
between +/- 10 V
command
T-REF and
Mode
GND
Torque
Tz
N/A
command
0
is 0
+/- 300
P1-12
%
+/- 300
P1-13
Register parameter
%
+/- 300
P1-14
%
Setting Value: 0x18
DI Name
Function Description of Digital Input (DI)
S-P
In position and speed mode, if the DI is OFF, it is in speed
mode. And it is in position mode when the DI is ON. (P selects
PT or PR via DI.PT-PR (0x2B).)
Trigger Control
Method Mode
Level
Dual
triggered Mode
Setting Value: 0x19
DI Name
S-T
Function Description of Digital Input (DI)
In speed and torque mode, if the DI is OFF, it is in speed
mode. And it is in torque mode when the DI is ON.
Trigger Control
Method Mode
Level
Dual
triggered Mode
Setting Value: 0x20
DI Name
T-P
Function Description of Digital Input (DI)
In position and torque mode, if the DI is OFF, it is in torque
mode; if the DI is ON, then it is in position mode.
Trigger Control
Method Mode
Level
Dual
triggered Mode
Setting Value: 0x21
DI Name
Function Description of Digital Input (DI)
EMGS When this DI is ON, the motor stops urgently.
April, 2013
Trigger Control
Method Mode
Level
ALL
triggered
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Chapter 8 Parameters
Setting Value: 0x22
DI Name
NL
Function Description of Digital Input (DI)
Reverse inhibit limit (contact b)
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x23
DI Name
PL
Function Description of Digital Input (DI)
Forward inhibit limit (contact b)
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x24
Trigger Control
Method Mode
ORGP In PR mode, during the process of homing if the DI is ON ← Rising
PR
/Falling
→ OFF, the servo will see this position as the homing origin.
edge
triggered
(Please refer to the setting of parameter P5-04)
DI Name
Function Description of Digital Input (DI)
Setting Value: 0x27
DI Name
Function Description of Digital Input (DI)
SHOM In PR mode, when searching the origin is needed, it will
activate the function of searching the origin when the DI is
ON. (Please refer to the setting of parameter P5-04)
Trigger Control
Method Mode
Rising
PR
edge
triggered
Setting Value: 0x2B
DI Name
Function Description of Digital Input (DI)
PT-PR When selecting PT-PR dual mode or PT-PR-S multiple
mode, source can be selected via this DI. If this DI is OFF, it
is in PT mode; If the DI is ON, it is in PR mode.
Trigger Control
Method Mode
Level
Dual
triggered Mode
Setting Value: 0x36
DI Name
CAM
Trigger Control
Method Mode
PR
E-Cam engaging control (Please refer to the setting of P5-88 Rising
/Falling
U, Z value)
edge
triggered
Function Description of Digital Input (DI)
Setting Value: 0x37
DI Name
Function Description of Digital Input (DI)
JOGU When this DI is ON, the motor will JOG in forward direction.
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Trigger Control
Method Mode
Level
ALL
triggered
April, 2013
Chapter 8 Parameters
ASDA-M
Setting Value: 0x38
DI Name
Function Description of Digital Input (DI)
JOGD When this DI is on, the motor will JOG in reverse direction.
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x39
DI Name
EV1
Function Description of Digital Input (DI)
Event trigger command #1 (Refer to the setting of P5-98,
P5-99)
Trigger Control
Method Mode
Rising
PR
/Falling
edge
triggered
Setting Value: 0x3A
DI Name
EV2
Function Description of Digital Input (DI)
Event trigger command #2 (Refer to the setting of P5-98,
P5-99)
Trigger Control
Method Mode
Rising
PR
/Falling
edge
triggered
Setting Value: 0x3B
DI Name
EV3
Function Description of Digital Input (DI)
Event trigger command #3
Trigger Control
Method Mode
Rising
PR
/Falling
edge
triggered
Setting Value: 0x3C
DI Name
EV4
Function Description of Digital Input (DI)
Event trigger command #4
Trigger Control
Method Mode
Rising
PR
/Falling
edge
triggered
Setting Value: 0x43, 0x44
DI Name
Function Description of Digital Input (DI)
GNUM0 Gear Ratio Selection 0 (Numerator)
GNUM1
Gear Ratio Selection 1 (Numerator)
April, 2013
Trigger Control
Method Mode
Level
PT
triggered
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Setting Value: 0x45
DI Name
INHP
Trigger Control
Method Mode
PT
In position mode, when this DI is ON, the external pulse input Level
triggered
command is not working.
(Note: The function has to be set to DI6 so as to ignore the
pulse command)
Function Description of Digital Input (DI)
Setting Value: 0x46
DI Name
Function Description of Digital Input (DI)
STOP Motor stops
NOTE
Trigger Control
Method Mode
Rising
PR
edge
triggered
1) 11~17 Single control mode; 18~20 Dual control mode.
2) When P2-10~P2-17 is set to 0, DI has no function.
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Table 8.2 Function Description of Digital Output (DO)
Setting Value: 0x01
DO
Function Description of Digital Output (DO)
Name
SRDY When the controlled and main circuit power is applied to the
drive, this DO is ON if there is no alarm occurs.
Setting Value: 0x02
DO
Function Description of Digital Output (DO)
Name
SON When the servo is ON, this DO is ON if no alarm occurs.
Setting Value: 0x03
DO
Function Description of Digital Output (DO)
Name
ZSPD When the motor speed is slower than the setting speed of
zero speed (P1-38), this DO is ON.
Setting Value: 0x04
DO
Function Description of Digital Output (DO)
Name
TSPD When the motor speed is faster than the target speed
(P1-39), this DO is ON.
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x05
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
TPOS In position mode, when the deviation pulse number is smaller Level
PT, PR
triggered
than the position range (the setting value of P1-54), this DO is
ON.
Setting Value: 0x06
DO
Function Description of Digital Output (DO)
Name
TQL When it is in torque limit, this DO is ON.
Setting Value: 0x07
DO
Function Description of Digital Output (DO)
Name
ALRM When the alarm occurs, this DO is ON.
(Except forward / reverse limit, communication error,
undervoltage, abnormal fan)
April, 2013
Trigger Control
Method Mode
Level ALL,
triggered except T,
Tz
Trigger Control
Method Mode
Level
ALL
triggered
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Chapter 8 Parameters
Setting Value: 0x08
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
BRKR When the signal of mechanical brake control is output, adjust Level
ALL
triggered
the setting of parameter P1-42 and P1-43.
ON
OFF
OFF
SON
ON
OFF
OFF
BRKR
MBT1(P1-42)
Motor
Speed
MBT2(P1-43)
ZSPD
(P1-38)
Setting Value: 0x09
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
HOME When homing is completed, it means the position coordinates Level
PR
triggered
system is available and this DO is ON.
When applying to the power, this DO is OFF. When homing is
completed, this DO is ON. During the operation, this DO is
ON until the counter overflows (including command or
feedback) and the DO becomes OFF.
When PR triggers homing command, this DO becomes OFF.
After homing, this DO becomes ON.
Setting Value: 0x0B
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
GTRY After the gantry function is activated (please refer to the
Level PT,PR
triggered
setting of P2-58), this DO is ON, which means the gantry
function is enabled. Whe this DI is OFF, the gantry function is
disabled.
(Firmware V1.005 sub00 will be available afterwards)
Setting Value: 0x10
DO
Function Description of Digital Output (DO)
Name
OLW When reaching the overload setting, this DO is ON.
tOL= Overload allowable time of the servo x Setting value of
P1-56, when the overload accumulative time exceeds
Trigger Control
Method Mode
Level
ALL
triggered
tOL, it will output pre-overload warning (OLW). However,
if the overload accumulative time exceeds the overload
allowable time of the servo, it will output pre-overload
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ASDA-M
error (ALRM).
For example:
The setting value of pre-overload warning is 60% (P1-56=60).
When the output average load of the servo drive is 200%, if
the output time exceeds 8 seconds, the servo drive will show
the overload alarm (ALE06).
tOL= The output average load of the servo exceeds 200% for
8 seconds x parameter setting value = 8sec x 60% =
4.8sec
Result: When the output average load of the servo drive
exceeds 200% for 4.8 seconds, this DO is ON. If it exceeds
for 8 seconds, then, DO, ALRM is ON.
Setting Value: 0x11
DO
Function Description of Digital Output (DO)
Name
WARN Warning output (Forward / reverse limit, communication
error, undervoltage, abnormal fan)
Setting Value: 0x12
DO
Function Description of Digital Output (DO)
Name
OVF Position Command Overflows
Setting Value: 0x13
DO
Function Description of Digital Output (DO)
Name
SNL Software limit (Reverse limit)
Setting Value: 0x14
DO
Function Description of Digital Output (DO)
Name
SPL Software limit (Forward limit)
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
PR
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Setting Value: 0x15
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
Cmd_OK Complete PR command and enter into PR mode, this DO is
Level
PR
triggered
ON.
When PR command is executing, this DO is OFF.
After completing the command, this DO is ON.
When the DO is ON, it means the command is completed, but
not finishing motor positioning. Please refer to DO.TPOS.
April, 2013
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Setting Value: 0x16
DO
Function Description of Digital Output (DO)
Name
CAP_OK CAP procedure completed
Setting Value: 0x17
DO
Function Description of Digital Output (DO)
Name
MC_OK When DO.Cmd_OK and TPOS are both ON, this DO is ON.
Refer to P1-48.
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
PR
triggered
Setting Value: 0x18
DO Name
Function Description of Digital Output (DO)
CAM_AREA Master of E-Cam locates in setting area.
Trigger Control
Method Mode
Level
PR
triggered
Setting Value: 0x19
DO
Trigger Control
Function Description of Digital Output (DO)
Name
Method Mode
SP_OK Speed completed output: In speed mode, when the deviation Level
S / Sz
triggered
between the speed feedback and the command is smaller
than the setting value of P1-47, then this DO is ON.
Setting Value: 0x30
DO
Function Description of Digital Output (DO)
Name
SDO_0 Ouput the status of bit 00 of P4-06
Setting Value: 0x31
DO
Function Description of Digital Output (DO)
Name
SDO_1 Ouput the status of bit 01 of P4-06
Setting Value: 0x32
DO
Function Description of Digital Output (DO)
Name
SDO_2 Ouput the status of bit 02 of P4-06
Setting Value: 0x33
DO
Function Description of Digital Output (DO)
Name
SDO_3 Ouput the status of bit 03 of P4-06
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Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
April, 2013
Chapter 8 Parameters
Setting Value: 0x34
DO
Function Description of Digital Output (DO)
Name
SDO_4 Ouput the status of bit 04 of P4-06
Setting Value: 0x35
DO
Function Description of Digital Output (DO)
Name
SDO_5 Ouput the status of bit 05 of P4-06
Setting Value: 0x36
DO
Function Description of Digital Output (DO)
Name
SDO_6 Ouput the status of bit 06 of P4-06
Setting Value: 0x37
DO
Function Description of Digital Output (DO)
Name
SDO_7 Ouput the status of bit 07 of P4-06
Setting Value: 0x38
DO
Function Description of Digital Output (DO)
Name
SDO_8 Ouput the status of bit 08 of P4-06
Setting Value: 0x39
DO
Function Description of Digital Output (DO)
Name
SDO_9 Ouput the status of bit 09 of P4-06
Setting Value: 0x3A
DO
Function Description of Digital Output (DO)
Name
SDO_A Ouput the status of bit 10 of P4-06
Setting Value: 0x3B
DO
Function Description of Digital Output (DO)
Name
SDO_B Ouput the status of bit 11 of P4-06
April, 2013
ASDA-M
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
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Setting Value: 0x3C
DO
Function Description of Digital Output (DO)
Name
SDO_C Ouput the status of bit 12 of P4-06
Setting Value: 0x3D
DO
Function Description of Digital Output (DO)
Name
SDO_D Ouput the status of bit 13 of P4-06
Setting Value: 0x3E
DO
Function Description of Digital Output (DO)
Name
SDO_E Ouput the status of bit 14 of P4-06
Setting Value: 0x3F
DO
Function Description of Digital Output (DO)
Name
SDO_F Ouput the status of bit 15 of P4-06
NOTE
8-288
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
Trigger Control
Method Mode
Level
ALL
triggered
1) When P2-18~P2-22 is set to 0, DO has no function.
April, 2013
Chapter 9 Communication
ASDA-M
Chapter 9 Communication
9.1
RS-485 / RS-232 Communication Hardware Interface
This servo drive supports the serial communication of RS-485 and RS-232. Communication
function enables the servo drive to access and change parameters inside the system.
However, RS-485 and RS-232 cannot be used at the same time. Parameter P3-05 can use
RS-485 and RS-232 as the communication protocol. Followings are the wiring description.
RS-232

Configuration
CN3
1394 Connector
4 (Rx)
2 (Tx)
1 (GND)
NOTE
1)
2)
April, 2013
D-Sub
9 Pin Connector
3 (Tx)
2 (Rx)
5 (GND)
15-meter communication cable is suitable for less interference
environment. If the transmission speed is over 38400bps, the
length of communication cable should be shorter than 3 meters
so as to ensure the accuracy of transmission.
Numbers shown in the above diagram represent the pin number
of each connector.
9-1
ASDA-M
Chapter 9 Communication
RS-485

Configuration
NOTE
1)
2)
3)
4)
9-2
100 meters of communication cable is suitable for less
interference environment. If the transmission speed is over
38400bps, the length of communication cable should not longer
than 15 meters so as to ensure the accuracy of transmission.
Numbers shown in the above diagram represent the pin number
of each connector.
Please use the power supply unit whose direct current is over 12
volt.
Using RS-485 can connect up to 32 servo drives at the same
April, 2013
Chapter 9 Communication
5)
April, 2013
ASDA-M
time. REPEATER can be used to connect more servo drives. 127
is the maximum.
Please refer to Chapter 3.5 for CN3 Pin Definition.
9-3
ASDA-M
9.2
Chapter 9 Communication
RS-485 / RS-232 Communication Parameters Setting
The following four parameters, P3-00 (Address Setting), P3-01 (Transmission Speed),
P3-02 (Communication Protocol) and P3-05 (Communication Mechanism), are essential
and must be set for the communication of the servo drive. The rest, such as P3-03
(Communication Error Disposal), P3-04 (Communication Timeout), P3-06 (Control Switch
of Digital Input), P3-07 (Communication Response Delay Time) and P3-08 (Monitor Mode)
is optional. Please refer to Chapter 8 of this user manual.
Followings are the content of P3-00 and its corresponding address is in the column at
rightmost, 0300H~0301H.
P3-00●
ADR
Address: 0300H
0301H
Related Section:
Section 9.2
Address Setting
Parameter
Parameter for individual axis
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0x7C
Control
Mode:
ALL
Unit: Range: 0x01 ~ 0x7F
Data Size: 16bit
Format: HEX
Settings: The communication address setting is divided into Y, X
(hexadecimal):
Range
0
0
Y
X
-
-
0~7
0~F
When using RS-232/RS-485 to communicate, one set of servo
drives can only set one address. The duplicate address setting
will cause abnormal communication.
In this servo drive, the 3-axis address setting should be unique.
The duplicate address will cause abnormal communication.
This address represents the absolute address of the servo drive
in communication network. It is also applicable to RS-232/485
and CAN bus.
When the communication address setting of MODBUS is set to
0xFF, the servo drive will automatically reply and receive data
regardless of the address. However, P3-00 cannot be set to 0xFF.
9-4
April, 2013
Chapter 9 Communication
P3-01
BRT
ASDA-M
Address: 0302H
0303H
Related Section:
Section 9.2
Transmission Speed
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Communication
Default: 0x0203
Control
Mode:
ALL
Unit: bps
Range: 0x0000 ~ 0x0405
Data Size: 16bit
Format: HEX
Settings: The setting of transmission speed is divided into Z, Y, X
(hexadecimal):
0
Z
Communication
CAN
-
port
Range
0
0~4
 Definition of X setting value
0: 4800
1: 9600
2: 19200
3: 38400
4: 57600
5: 115200
 Definition of Z setting value
0: 125 Kbit/s
1: 250 Kbit/s
2: 500 Kbit/s
3: 750 Kbit/s
4: 1.0 Mbit/s
Y
X
-
RS-232/485
0
0~5
NOTE 1) If this parameter is set via CAN, only digit Z can be set and the
others remain.
2) The communication speed of USB is 1.0 Mbit/s only and is
unchangeable.
April, 2013
9-5
ASDA-M
P3-02
Chapter 9 Communication
PTL
Communication Protocol
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0304H
0305H
Related Section:
Section 9.2
Communication
Default: 6
Control
Mode:
ALL
Unit: Range: 0 ~ 0x8
Data Size: 16bit
Format: HEX
Settings: The definition of the setting value is as the followings:
0: 7, N, 2(MODBUS, ASCII)
1: 7, E, 1(MODBUS, ASCII)
2: 7, O, 1(MODBUS, ASCII)
3: 8, N, 2(MODBUS, ASCII)
4: 8, E, 1(MODBUS, ASCII)
5: 8, O, 1(MODBUS, ASCII)
6: 8, N, 2(MODBUS, RTU)
7: 8, E, 1(MODBUS, RTU)
8: 8, O, 1(MODBUS, RTU)
P3-03
FLT
Communication Error Disposal
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 0306H
0307H
Related Section:
Section 9.2
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0 ~ 0x1
Data Size: 16bit
Format: HEX
9-6
April, 2013
Chapter 9 Communication
ASDA-M
Settings: The definition of setting value is as the followings:
0: Warning and keeps running
1: Warning and decelerates to stop (The deceleration time is set
to parameter P5-03.B)
P3-05
CMM
Communication Mechanism
Parameter
Parameter for three axes
Attribute:
Operational
Panel / Software
Interface:
Address: 030AH
030BH
Related Section:
Section 9.2
Communication
Default: 0
Control
Mode:
ALL
Unit: Range: 0x00 ~ 0x01
Data Size: 16bit
Format: HEX
Settings: Communication port can select one or more than one
communications.
 Communication Interface
0: RS232
1: RS485
April, 2013
9-7
ASDA-M
9.3
Chapter 9 Communication
MODBUS Communication Protocol
There are two modes of MODBUS networks communication, ASCII (American Standard
Code for Information Interchange) mode and RTU (Remote Terminal Unit) mode. Users
could set the needed communication protocol via parameter P3-02. Apart from these two
communication modes, this servo drive also supports function of 03H to access more than
one data, 06H to write one character and 10H to write multiple characters. Please refer to
the following descriptions.
 Code Description
ASCII Mode:
The so-called ASCII mode is using American Standard Code for Information Interchange
(ASCII) to transmit the data. Between two stations (Master and Slave) to transmit data 64H,
the master will send‘6’which represented by 36H of ASCII code and ‘4’ represented
by 34H of ASCII code.
ASCII code of digit 0 to 9 and characters A to F is as follows:
Character
‘0’
‘1’
‘2’
‘3’
‘4’
‘5’
ASCII code
30H
31H
32H
33H
34H
35H
Character
‘8’
‘9’
‘A’
‘B’
‘C’
‘D’
ASCII code
38H
39H
41H
42H
43H
44H
‘6’
36H
‘E’
45H
‘7’
37H
‘F’
46H
RTU Mode:
Every 8-bits of data is constituted by two 4-bits hexadecimal characters. If data 64H is
transmitted between two stations, it will be transmitted directly, which is more efficient than
ASCII mode.
 Character Structure
Characters will be encoded into the following framing and transmitted in serial. The
checking method of different bit is as the following.
10 bits character frame (for 7-bits character)
7N2
Start
bit
0
1
2
3
4
5
6
Stop
bit
Stop
bit
5
6
Even
parity
Stop
bit
7-data bits
10-bits character frame
7E1
Start
bit
0
1
2
3
4
7-data bits
10-bits character frame
9-8
April, 2013
Chapter 9 Communication
7O1
Start
bit
0
ASDA-M
1
2
3
4
5
6
Odd
parity
Stop
bit
5
6
7
Stop
bit
Stop
bit
6
7
Even
parity
Stop
bit
6
7
Odd
parity
Stop
bit
7-data bits
10-bits character frame
11 bits character frame (for 8-bits character)
8N2
Start
bit
0
1
2
3
4
8-data bits
11-bits character frame
8E1
Start
bit
0
1
2
3
4
5
8-data bits
11-bits character frame
8O1
Start
bit
0
1
2
3
4
5
8-data bits
11-bits character frame
April, 2013
9-9
ASDA-M
Chapter 9 Communication
 Communication Data Structure
The Data Frame in two different communication modes:
ASCII mode:
Start
Slave Address
Function
Data (n-1)
…….
Data (0)
LRC
Start character ’:’ (3AH)
Communication address:1-byte includes 2 ASCII codes
Function code:1-byte includes 2 ASCII codes
Data content:n-word =2n-byte includes 4n of ASCII code,
n<=10
Error checking:1-byte includes 2 ASCII codes
End 1
End code 1:(0DH)(CR)
End 0
End code 0:(0AH)(LF)
The start character of communication in ASCII mode is colon ‘:’(ASCII is 3AH),ADR is the
ASCII code of two characters. The end code is CR (Carriage Return) and LF (Line Feed).
And the communication address, function code, data content, error checking LRC
(Longitudinal Redundancy Check), etc are between the start character and end code.
RTU mode:
Start
Slave Address
Function
Data (n-1)
…….
Data (0)
CRC
End 1
A silent interval which is longer than 10ms
Communication address:1-byte
Function code:1-byte
Data content:n-word =2n-byte, n<=10
Error checking:1-byte
A silent interval which is longer than 10ms
The start of communication in RTU (Remote Terminal Unit) mode is a silent interval. The
end of it is another silent interval. The communication address, function code, data content,
error checking CRC (Cyclical Redundancy Check), etc are between the start and the end.
9-10
April, 2013
Chapter 9 Communication
ASDA-M
Example1: function code 03H, access multiple words:
The Master issues the command to the 1st Slave and reads the continuous 2 words starting
from the start address 0200H. In response message from the Slave, the content of starting
address 0200H is 00B1H and the content of the 2nd data address 0201H is 1F40H. The
maximum allowable data in one single access is 10. The calculation of LRC and CRC will
be described in next chapter.
ASCII mode:
Command message from the Master:
Start
Slave Address
Function
Starting data
address
Number of data
(In Word)
LRC Check
End 1
End 0
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’
‘2’
‘0’
‘0’
‘0’
‘0’
‘0’
‘2’
‘F’
‘8’
(0DH)(CR)
(0AH)(LF)
Response message from the Slave:
Start
Slave Address
Function
Number of data
(In Byte)
The content of
starting address
0200H
The content of the
2nd data address
0201H
LRC Check
End 1
End 0
April, 2013
‘:’
‘0’
‘1’
‘0’
‘3’
‘0’
‘4'
‘0’
‘0’
‘B’
‘1’
‘1’
‘F’
‘4’
‘0’
‘E’
‘8’
(0DH)(CR)
(0AH)(LF)
9-11
ASDA-M
Chapter 9 Communication
RTU mode:
Command message from the Master:
Slave Address
Function
Starting data
address
Number of data
(In Word)
01H
03H
02H (High word)
00H (High word)
00H
02H
CRC Check Low
C5H (Low word)
CRC Check High
B3H (High word)
Response message from the Slave:
Slave Address
Function
Number of data
(In Byte)
The content of
starting address
0200H
The content of the
2nd data address
0201H
CRC Check Low
CRC Check High
01H
03H
04H
00H (High word)
B1H (Low word)
1FH (High word)
40H (Low word)
A3H (Low word)
D4H (High word)
Note: Before and after the transmission in RTU mode, 10ms of silent interval is needed.
Example 2, function code 06H, write single word:
The Master issues command to the 1st Slave and writes data 0064H to address 0200H. The
Slave sends the response message to the Master after the writing is completed. The
calculation of LRC and CRC will be described in next chapter.
ASCII mode:
Command message from the Master:
Start
Slave Address
Function
Starting data
address
Data content
LRC Check
End 1
End 0
9-12
‘:’
‘0’
‘1’
‘0’
‘6’
‘0’
‘2’
‘0’
‘0’
‘0’
‘0’
‘6’
‘4’
‘9’
‘3’
(0DH)(CR)
(0AH)(LF)
Response message from the Slave:
Start
Slave Address
Function
Starting data
address
Data content
LRC Check
End 1
End 0
‘:’
‘0’
‘1’
‘0’
‘6’
‘0’
‘2'
‘0’
‘0’
‘0’
‘0’
‘6’
‘4’
‘9’
‘3’
(0DH)(CR)
(0AH)(LF)
April, 2013
Chapter 9 Communication
ASDA-M
RTU mode:
Command message from the Master:
Address
Slave Function
Starting data
address
Data content
CRC Check Low
CRC Check High
01H
06H
02H (High word)
00H (Low word)
00H (High word)
64H (Low word)
89H (Low word)
99H (High word)
Response message from the Slave:
Address
Slave Function
Starting data
address
01H
06H
02H (High word)
00H (Low word)
00H (High word)
Data content
64H (Low word)
CRC Check Low 89H (Low word)
CRC Check High 99H (High word)
Note: Before and after the transmission in RTU mode, 10ms of silent interval is needed.
Example 3, function code 10H, write multiple words:
The Master issues command to the 1st Slave and writes 0BB8H and 0000H to the starting
address 0112H. That is to say, 0112H is written into 0BB8H and 0113H is written into 0000H.
The maximum allowable data in one single access is 10. The Slave sends the response
message to the Master after the writing is completed. The calculation of LRC and CRC will
be described in next chapter.
ASCII mode:
Command message from the Master:
Start
Slave Address
Function
Starting data
address
Number of data
(In Word)
Number of data
(In Byte)
The 1st data content
The 2nd data content
April, 2013
9-13
‘:’
‘0’
‘1’
‘1’
‘0’
‘0’
‘1’
‘1’
‘2’
‘0’
‘0’
‘0’
‘2’
‘0’
‘4’
‘0’
‘B’
‘B’
‘8’
‘0’
Response message from the Slave:
Start
Slave Address
Function
Starting data
address
Number of data
LRC Check
End 1
End 0
‘:’
‘0’
‘1’
‘1’
‘0’
‘0’
‘1'
‘1’
‘2’
‘0’
‘0’
‘0’
‘2’
‘D’
‘A’
(0DH)(CR)
(0AH)(LF)
ASDA-M
Chapter 9 Communication
LRC Check
End 1
End 0
‘0’
‘0’
‘0’
‘1’
‘3’
(0DH)(CR)
(0AH)(LF)
RTU mode:
Command message from the Master:
Slave Address
Function
Starting data
address
Number of data
(In Word)
Number of data
(In Byte)
01H
10H
01H(High word)
12H(Low word)
00H(High word)
02H(Low word)
04H
Response message from the Slave:
Slave Address
Function
01H
10H
01H(High word)
Starting data
address
12H(Low word)
Number of data 00H(High word)
(In Word)
02H(Low word)
CRC Check Low E0H(Low word)
CRC Check High 31H(High word)
0BH(High word)
B8H(Low word)
00H(High word)
The 2nd data content
00H(Low word)
CRC Check Low FCH(Low word)
CRC Check High EBH(High word)
The 1st data content
Note: Before and after the transmission in RTU mode, 10ms of silent interval is needed.
9-14
April, 2013
Chapter 9 Communication
ASDA-M
 LRC and CRC transmission error checking
The error checking in ASCII communication mode is LRC (Longitudinal Redundancy
Check); CRC (Cyclical Redundancy Check) is for RTU communication mode. The
algorithm of both is as the following.
LRC (ASCII mode):
Start
Slave Address
Function
Starting data address
Number of data
LRC Check
End 1
End 0
‘:’
‘7’
‘F’
‘0’
‘3’
‘0’
‘5’
‘C’
‘4’
‘0’
‘0’
‘0’
‘1’
‘B’
‘4’
(0DH)(CR)
(0AH)(LF)
The LRC algorithm is: add all byte, round down the carry and take 2’s complement. For
example, 7FH + 03H + 05H + C4H + 00H + 01H = 14CH, round down carry 1 and take
4CH.
2’s complement of 4CH is B4H.
CRC (RTU mode):
The description of CRC is as the followings:
Step 1: Load a 16-bits register of FFFFH, which is called CRC register.
Step 2: (The low byte of CRC register) XOR (The first byte of command), and save the
result in CRC register.
Step 3: Right move one bit. Check the least significant bit (LSB) of CRC register. If the
bit is 1, then (CRC register) XOR (A001H).
Step 4: Return to Step 3 until Step 3 has been executed for 8 times. Go to Step 5.
Step 5: Repeat the procedure from Step 2 to Step 4 until all byte is processing. Get the
result of CRC value.
April, 2013
9-15
ASDA-M
Chapter 9 Communication
Description: After calculating CRC value, fill in the low word of CRC first in command
message, and then fill in the high word of CRC. For example, if the result of CRC
algorithm is 3794H, fill in 94H in low word and then 37H in high word.
ARD
CMD
Starting data address
Number of data
(In Word)
CRC Check Low
CRC Check High
9-16
01H
03H
01H (High word)
01H (Low word)
00H (High word)
02H (Low word)
94H (Low word)
37H (High word)
April, 2013
Chapter 9 Communication
Example of CRC program:
Produce CRC in C language. This function needs two parameters:
unsigned char* data;
unsigned char length
This function returns CRC of unsigned integer.
unsigned int crc_chk(unsigned char* data, unsigned char length) {
int j;
unsigned int reg_crc=0xFFFF;
while( length-- ) {
reg_crc^= *data++;
for (j=0; j<8; j++ ) {
if( reg_crc & 0x01 ) { /*LSB(bit 0 ) = 1 */
reg_crc = (reg_crc >> 1)^0xA001;
} else {
reg_crc = (reg_crc>>1);
}
}
}
return reg_crc;
}
Example of personal computer procedure:
#include<stdio.h>
#include<dos.h>
#include<conio.h>
#include<process.h>
#define PORT 0x03F8 /* the address of COM 1 */
#define THR 0x0000
#define RDR 0x0000
#define BRDL 0x0000
#define IER 0x0001
#define BRDH 0x0001
#define LCR 0x0003
#define MCR 0x0004
#define LSR 0x0005
#define MSR 0x0006
unsigned char rdat[60];
/* read 2 data from address 0200H of ASD with address 1 */
unsigned char tdat[60]={‘:’,’0’,’1’,’0’,’3’,’0’,’2’,’0’,’0’,’0’,’0’,’0’,’2’,’F’,’8’,’\r’,’\n’};
void main() {
int I;
outportb(PORT+MCR,0x08);
/* interrupt enable */
outportb(PORT+IER,0x01);
/* interrupt as data in */
outportb(PORT+LCR,( inportb(PORT+LCR) | 0x80 ) );
/* the BRDL/BRDH can be access as LCR.b7 == 1 */
outportb(PORT+BRDL,12);
outportb(PORT+BRDH,0x00);
outportb(PORT+LCR,0x06);
/* set prorocol
<7,E,1> = 1AH,
<7,O,1> = 0AH
<8,N,2> = 07H
<8,E,1> = 1BH
April, 2013
9-17
ASDA-M
ASDA-M
Chapter 9 Communication
<8,O,1> = 0BH
*/
for( I = 0; I<=16; I++ ) {
while( !(inportb(PORT+LSR) & 0x20) ); /* wait until THR empty */
outportb(PORT+THR,tdat[I]);
/* send data to THR */
}
I = 0;
while( !kbhit() ) {
if( inportb(PORT+LSR)&0x01 ) { /* b0==1, read data ready */
rdat[I++] = inportb(PORT+RDR); /* read data from RDR */
}
}
}
9-18
April, 2013
Chapter 9 Communication
9.4
ASDA-M
Write-in and Read-out in Communication Parameters
Please refer to Chapter 8, Parameters for all parameter details. And the descriptions of
parameters which can be wrote or read through communication are as follows.
Parameters are divided into 8 groups, Group 0: Monitor Parameters, Group 1: Basic
Parameters, Group 2: Extension Parameters, Group 3: Communication Parameters, Group
4: Diagnosis Parameters, Group 5: Motion Setting, Group 6: PR Definition and Group 7: PR
Definition.
Write parameters via communication:
Parameters which can be written through communication include:
Group 0, except (P0-00~P0-01), (P0-08~P0-13) and (P0-46)
Group 1 (P1-00~P1-76)
Group 2 (P2-00~P2-67)
Group 3 (P3-00~P3-11)
Group 4, except (P4-00~P4-04) and (P4-08~P4-09)
Group 5 (P5-00~P5-99), except P5-10, P5-16 and P5-76
Group 6 (P6-00~P6-99)
Group 7 (P7-00~P7-27)
Please note that:
(P3-01)
When change to a new communication speed, the next data will be written in a
new transmission speed after setting the new value.
(P3-02)
When change to the new communication protocol, the next data will be written
with the new communication protocol after setting the new value.
(P4-05)
JOG controls parameters of the servo. Please refer to Chapter 8, Parameters for
the description.
(P4-06)
Force to control output contact. This parameter is for DO (Digital Output) testing.
Users can write 1, 2, 4, 8 and 16 to test DO1, DO2 and DO3 respectively.
Please write 0 after the test so as to inform the servo drive that the test has been
completed.
(P4-10)
Adjustment function selection. Write 20 (= 14H in hexadecimal format) in
parameter P2-08 first to enable the adjustment so as to change the value of
P4-10.
(P4-11 ~ P4-21) This parameter is Offset Adjustment. Do not change the setting unless it
is necessary. If it is necessary, please write 22 (= 16H, in hexadecimal
format) in parameter P2-08 first to enable the function so as to change
the value of (P4-11 ~ P4-21)
April, 2013
9-19
ASDA-M
Chapter 9 Communication
Read parameters through communication:
Parameters can be read through communication include:
Group 0 (P0-00~P0-46)
Group 4 (P4-00~P4-23)
Group 1 (P1-00~P1-76)
Group 5 (P5-00~P5-99)
Group 2 (P2-00~P2-67)
Group 6 (P6-00~P6-99)
Group 3 (P3-00~P3-11)
Group 7 (P7-00~P7-27)
9-20
April, 2013
Chapter 10 Troubleshooting
ASDA-M
Chapter 10 Troubleshooting
10.1 Alarm of Servo Drive
Display
Alarm Name
Overcurrent
Alarm Description
The current of the main circuit is 1.5
times more than the instantaneous
current of the motor.
ALM
Servo
Off
Overvoltage
The voltage of the main circuit is
higher than the standard voltage.
ALM
Servo
Off
Undervoltage
The voltage of the main circuit is
lower than the standard voltage.
WARN
Servo
Off
Motor
The drive corresponds to the wrong
Combination
Error
motor.
ALM
Servo
Off
Regeneration
Error
Regeneration control is in error.
Overload
The motor and the drive is overload.
ALM
Overspeed
The control speed of the motor
exceeds the normal speed.
ALM
Abnormal
Pulse
Command
The input frequency of the pulse
command is over the allowable value
of the hardware interface.
ALM
Servo
Off
Excessive
Deviation
Position
Command
The deviation of position command
of exceeds the allowable setting value.
ALM
Servo
Off
ALM
Servo
Off
ALM
Servo
Off
WARN
Servo
Off
WARN
Servo
On
WARN
Servo
On
ALM
Servo
Off
Encoder Error The encoder produces abnormal
pulse.
Adjustment
Error
When executing electrical
adjustment, the adjusted value
exceeds the allowable value.
Emergency
Stop
Press the emergency stop button.
Reverse
Error
Limit Activate the reverse limit switch.
Forward
Error
Limit Activate the forward limit switch.
IGBT Overheat The temperature of IGBT is over
high
April, 2013
Corresponding Servo
Status
DO
ALM
Servo
Off
Servo
Off
Servo
Off
10-1
ASDA-M
Display
Chapter 10 Troubleshooting
Alarm Name
Alarm Description
Corresponding Servo
Status
DO
Abnormal
EEPROM
It is in error when DSP accesses
EEPROM.
ALM
Servo
Off
Abnormal
signal output
The encoder output exceeds the
rated output frequency.
ALM
Servo
Off
Serial
RS-232/485 communication is in
Communication error
Error
ALM
Servo
Off
Serial
RS-232/485 communication time out
Communication
Time Out
WARN
Servo
On
WARN
Servo
Off
WARN
Servo
On
Encoder initial The magnetic field of the encoder U,
magnetic field V, W signal is in error.
error
ALM
Servo
Off
The Internal of The internal memory of the encoder
the Encoder is and the internal counter are in error.
in Error
ALM
Servo
Off
ALM
Servo
Off
ALM
Servo
On
ALM
Servo
On
ALM
Servo
On
Crash The motor crashes the equipment,
reaches the torque of P1-57 and
exceeds the time set by P1-58.
ALM
Servo
Off
Incorrect wiring Incorrect wiring of the motor power
of the motor line U, V, W, GND
power line U, V,
W, GND
ALM
Servo
Off
Reserved
Main
Power
Phase
Reserved
Circuit Only one single phase is inputted in
Lack the main circuit power.
Early Warning Early warning for overload
for Overload
Unreliable
The error of the internal data has
internal data of been detected for three times
the encoder
continuously.
The Internal of The internal reset of the encoder is in
the Motor is in error.
Error
The Internal of The internal signal, U, V, W of the
the Motor is in encoder is in error.
Error
The Internal of The internal address of the encoder
the Motor is in is in error.
Error
Motor
Error
10-2
April, 2013
Chapter 10 Troubleshooting
Display
Alarm Name
ASDA-M
Corresponding Servo
Status
DO
Alarm Description
Excessive
Excessive
deviation
of
Deviation
of closed-loop position control
Full
Closed-loop
Position
Control
full
ALM
Servo
Off
Communication The communication of linear scale is
of Linear Scale breakdown.
is Breakdown
ALM
Servo
Off
Excessive
The deviation between the two
Deviation
selected axes of the gantry exceeds
between Two
Axes of the the setting value of P2-59.
Gantry
ALM
Servo
Off
Abnormal
Gantry
Selection
ALM
Servo
Off
ALM
Servo
Off
When enabling gantry function, not
select any two axes as gantry
operational axes.
DSP Firmware EEPROM has not been reset after
Upgrade
upgrading the firmware. The fault
can be cleared when firstly set P2-08
to 30. Then set P2-08 to 28. And
re-power on the drive.
April, 2013
10-3
ASDA-M
Chapter 10 Troubleshooting
10.2 Alarm of CANopen Communication
Display
Alarm Name
Alarm Description
Corrective Corresponding Servo
Actions
Status
DO
CANopen
SDO
receives buffer
overflow
SDO Rx Buffer overflow
(receives more than two NMT:Reset
SDOs
within
1 node or
0x6040.Fault
millisecond)
Reset
ALM
Servo
On
CANopen
PDO
receives buffer
overflow
PDO Rx Buffer overflow
(receives more than two
Same as
same PDOs of the
above
COBID within 1
millisecond)
ALM
Servo
On
Index error
occurs when
accessing
CANopen
PDO
The specified Index in
the message does not
Same as
exist.
above
ALM
Servo
On
Sub-Index
error occurs
when
accessing
CANopen
PDO
The specified Sub-Index
in the message does not
exist.
Same as
above
ALM
Servo
On
Data Size
error occurs
when
accessing
CANopen
PDO
The data length in the
message
does
not
match to the specified Same as
above
object.
ALM
Servo
On
Data range
error occurs
when
accessing
CANopen
PDO
The data value in the
message is over the
range of the specified Same as
above
object.
ALM
Servo
On
ALM
Servo
On
CANopen
The specified object in
PDO object is the
message
is Same as
above
read-only and write-protected.
write-protected
10-4
April, 2013
Chapter 10 Troubleshooting
ASDA-M
CANopen
The specified object in
PDO object is the message does not
not allowed in support PDO
PDO
Same as
above
ALM
Servo
On
CANopen
The specified object in
PDO object is the
message
is
Same as
write-protected write-protected
when
above
when Servo
Servo ON
On
ALM
Servo
On
An error occurs when
loading the default value
via ROM at start-up. All Same as
objects of CAN returns above
to the default value
automatically.
ALM
Servo
On
Error occurs An error occurs when
when writing saving the current value
Same as
CANopen
into ROM.
above
PDO object
via EEPROM
ALM
Servo
On
ALM
Servo
On
ALM
Servo
On
ALM
Servo
On
Error occurs
when reading
CANopen
PDO object
via EEPROM
April, 2013
The accessing
address of
EEPROM is
out of range
when using
CANopen
PDO object
The quantity of the data
inside ROM is over the
planned space. It is
probably because the
Same as
software
has
been
above
updated. The data inside
ROM is stored by the old
version. Thus, it cannot
be used.
CRC of
EEPROM
calculation
error occurs
when using
CANopen
PDO object
It indicates that the data
stored in ROM has been
damaged. All objects of
Same as
CAN will return to the
above
default
setting
automatically.
Enter the
incorrect
password
when using
When
entering
parameters via CAN, the Same as
parameters
are above
password-protected.
10-5
ASDA-M
Chapter 10 Troubleshooting
CANopen
PDO object
Abnormal
CAN Bus
hardware
10-6
Users have to decode
the password first.
The communication of
CAN Bus is breakdown NMT:Reset
or Error Rx/Tx Counter
node or
is over 128.
re-servo on
ALM
Servo
On
April, 2013
Chapter 10 Troubleshooting
ASDA-M
10.3 Alarm of Motion Control
Display
Alarm Name
Alarm Description
An error occurs An error occurs when
when loading loading data via
CANopen data EEPROM.
April, 2013
Corrective Corresponding Servo
Actions
Status
DO
DI:ARST,
CANopen
0x1011
Restore
default
parameter
WARN
Servo
On
WARN
Servo
On
Write
parameters:
exceeds the
range
Write parameters via
DI:Alm Reset
PR procedure: the
value is over the range. or P0-01= 0
Write
parameters:
read-only
Write parameters via
DI:Alm Reset
PR procedure: the
or P0-01= 0
parameter is read-only
WARN
Servo
On
Write
parameters:
parameter
locked
Write parameters via
PR procedure: it is
write-protected when
the servo is ON or the
input data is
unreasonable.
Correct the
PR
command
and
parameter
WARN
Servo
On
Write
parameters:
parameter
locked
Write parameters via
PR procedure: it is
write-protected when
the servo is ON or the
input data is
unreasonable.
Correct the
PR
command
and
parameter
WARN
Servo
On
PR command
overflows
Feedback position
counter overflows and
executes the absolute
positioning command.
NMT: Reset
node or
0x6040.Fault
Reset
WARN
Servo
On
PR positioning The execution of
Same as
is over time
positioning command
above
exceeds the time limit.
WARN
Servo
On
The number of
PR command
exceeds the
range
WARN
Servo
On
The range of PR
command is between 0 Same as
and 63, or it will exceed above
the limit.
10-7
ASDA-M
10-8
Chapter 10 Troubleshooting
Index error
The specified Index in DI:ARST
occurs when the message does not
NMT:Reset
accessing CAN exist.
object
node or
0x6040.Fault
Reset
WARN
Servo
On
Sub-Index
The
specified
error occurs
Sub-Index
in
the
Same as
when
message does not
above
accessing CAN exist.
object
WARN
Servo
On
Data Size error The data length in the
occurs when message does not Same as
accessing CAN match to the specified above
object
object.
WARN
Servo
On
Data range
error occurs
when
accessing
CAN.
WARN
Servo
On
CAN object is The specified object in
Same as
read-only and the
message
is
above
write-protected write-protected
WARN
Servo
On
PDO is not
allowed in
CAN object
The specified object in
Same as
the message does not
above
support PDO
WARN
Servo
On
CAN object is
write-protected
when Servo
On
The specified object in
the
message
is Same as
write-protected when above
Servo ON
WARN
Servo
On
Error occurs
when reading
CAN object via
EEPROM
An error occurs when
loading the default
value via ROM at
Same as
start-up. All objects of
above
CAN returns to the
default
value
automatically.
WARN
Servo
On
Error occurs
An error occurs when
Same as
when writing
saving
the
current
above
CAN object via value into ROM.
WARN
Servo
On
The data value in the
message is over the
Same as
range of the specified
above
object.
April, 2013
Chapter 10 Troubleshooting
ASDA-M
EEPROM
April, 2013
The accessing
address of
EEPROM is
out of range
when using
CAN object
The quantity in the data
inside ROM is over the
planned space. It is
probably because the
software has been Same as
updated. The data above
inside ROM is stored
by the old version.
Thus, it cannot be
used.
WARN
Servo
On
CRC of
EEPROM
calculation
error occurs
when using
CAN object
It indicates that the
data stored in ROM has
been damaged. All Same as
objects of CAN will above
return to the default
setting automatically.
WARN
Servo
On
Enter the
incorrect
password
when using
CAN object
When
entering
parameters via CAN,
the parameters are Same as
password-protected.
above
Users have to decode
the password first.
WARN
Servo
On
Forward
The value of position The fault will
Software Limit command is bigger be cleared
than forward software automatically
limit (P5-08)
when the
motor
operates
backwards.
WARN
Servo
On
Reverse
The value of position The fault will
Software Limit command is smaller be cleared
than reverse software automatically
limit (P5-09)
when the
motor
operates
backwards.
WARN
Servo
On
Feedback
position
counter
WARN
Servo
On
Feedback
position NMT: Reset
counter overflows.
node or
0x6040.Fault
10-9
ASDA-M
Chapter 10 Troubleshooting
overflows
CANopen fails CANopen IP mode fails
Same as
to synchronize to synchronize with the
above
controller.
WARN
Servo
On
The
synchronized
signal of
CANopen is
sent too fast
The
synchronized
signal,
SYNC
of
Same as
CANopen is sent too
above
fast.
WARN
Servo
On
The
synchronized
signal of
CANopen is
sent too slow
The
synchronized
signal,
SYNC
of
Same as
CANopen has not been
above
received in time.
WARN
Servo
On
CANopen IP
command is
failed
SYNC Period
is in error
Command cannot be
Same as
issued in CANopen IP
above
mode.
WARN
Servo
On
CANopen 301 Obj Same as
0x1006 Data Error!
above
WARN
Servo
On
Position
Deviation
Alarm
Please refer to the
description
of
parameter P1-48.
DI:Alm Reset
After DO.MC_OK ON,
or P0-01= 0
DO.MC_OK becomes
OFF because DO.
TPOS turns OFF.
WARN
Servo
On
NOTE
10-10
Reset
If the alarm occurs and is different from the alarm showed in Alarm of
Servo Drive, Alarm of CANopen Communication and Alarm of
Motion Control, please contact with distributors or technical personnel.
April, 2013
Chapter 10 Troubleshooting
ASDA-M
10.4 Causes and Corrective Actions
Alarm Display
:Overcurrent
Causes
The drive output is
short-circuit
Checking Method
Check if the wiring between the
Corrective Actions
Eliminate short-circuit and avoid
motor and the drive is correct and metal conductor being exposed.
see if the wire is short-circuited.
The motor wiring is in
error.
Check if the wiring steps are
Rewiring by following the wiring
correct when connecting the
motor to the drive.
description from the user
manual.
IGBT is abnormal
The temperature of the heat sink Send the drive back to the
is abnormal
distributors or contact with Delta.
The control parameter Check if the setting value
setting is in error.
exceeds the default setting
Setting back to the default
Unreasonable
command
Less steep command used or
Check if the command doing
reasonable acceleration time.
setting and then gradually adjust
the value.
filter applying to smooth
command.
:Overvoltage
Causes
Checking Method
Corrective Actions
The input voltage of the Use the voltmeter to see if the Apply to the correct power
main circuit is higher input voltage of the main circuit is supply
or
than
the
rated within the rated allowable voltage regulator.
allowable voltage.
value. (please refer to Chapter
12.1)
Wrong power input
(incorrect power
system)
serial
Use the voltmeter to see if the Apply to the correct
power system matches the supply or serial adaptor.
specification.
voltage
power
The hardware of the Use the voltmeter to see if the Send the drive back to the
servo
drive
is input voltage of the main circuit is distributors or contact with Delta.
damaged.
within the rated allowable voltage
value but still shows the error.
April, 2013
10-11
ASDA-M
Chapter 10 Troubleshooting
:Undervoltage
Causes
Checking Method
Corrective Actions
The input voltage of the Check if the input voltage wiring Re-confirm the voltage wiring.
main circuit is lower of the main circuit is normal.
than
the
rated
allowable voltage.
No power supply for Use the voltmeter to see if the Check the power switch
the main circuit.
voltage of the main circuit is
normal.
Wrong power input
(incorrect power
system)
Use the voltmeter to see if the Apply to the correct
power system matches the supply or serial adaptor.
specification.
power
:Motor Combination Error
Causes
The
encoder
damaged.
The encoder is loose.
Motor
Error
Checking Method
is The encoder is abnormal.
Check the encoder connector.
Combination Connect to the right motor.
Corrective Actions
Change the motor
Install the motor again.
Change the motor
:Regeneration Error
Causes
Checking Method
The
regenerative Check
the
connection
resistor is unconnected regenerative resistor.
or too low
Corrective Actions
of Reconnect the regenerative
resistor or calculate the value of
the regenerative resistor.
Parameter P1-53 is not Check if parameter P1-53 of Set
parameter
P1-53
of
set to zero when the regenerative resister is set to regenerative resistor to zero
when it is not applying.
regenerative resistor is zero.
not in use.
Wrong
parameter Check the setting value of Correctly reset the setting.
setting
parameter P1-52 and P1-53.
:Overload
Causes
Checking Method
Corrective Actions
Over the rated loading Set parameter P0-02 to 11 and Increase the motor capacity or
of the drive and
see if the average torque [%] is reduce the load.
continuously excessive
10-12
April, 2013
Chapter 10 Troubleshooting
using
ASDA-M
over 100% all the time.
The setting of the 1. Check if there is any 1.
control
system
mechanical vibration.
parameter
is
2. Check if the acceleration / 2.
inappropriate.
deceleration constant is set too
fast.
Adjust the gain value of the
control circuit.
Slow down the acceleration /
deceleration setting time.
Wrong wiring of the Check the wiring of U, V, W and Correct wiring
motor and the encoder. the encoder.
The encoder of the Send the drive back to the distributors or contact with Delta.
motor is defective.
:Overspeed
Causes
Unreasonable
command
Checking Method
Corrective Actions
Use the scope to check if the Less steep command used or
Inappropriate
parameter setting
Check if the setting of parameter Correctly set parameter P2-34
signal of
abnormal.
analog
voltage
is filter
applying
command.
to
smooth
P2-34 is too small (the condition (the condition of over-speed
of over-speed warning).
warning).
:Abnormal Pulse Command
Causes
Checking Method
Corrective Actions
The pulse command Use the scope to check if the Correctly set the input pulse
frequency.
frequency is higher input frequency is over the rated
than the rated input input frequency.
frequency.
:Excessive Deviation of Position Command
Causes
Checking Method
Corrective Actions
Parameter P2-35 is set Check the setting value of Increase the setting value of
too small
parameter P2-35 (The warning P2-35 (The warning condition of
condition of excessive position excessive position deviation)
deviation)
The setting of the gain Check if the setting value is Correctly adjust the gain value
value is too small.
appropriate
The torque limit is too Check the torque limit value
low.
Correctly adjust the torque limit
value
Excessive external
Reduce the external load or
April, 2013
Check the external load
10-13
ASDA-M
Chapter 10 Troubleshooting
Causes
Checking Method
load
Corrective Actions
evaluate the motor capacity
again
:Encoder Error
Causes
Checking Method
Corrective Actions
Wrong wiring of the Check if the wiring follows the Correct wiring
encoder
suggested wiring of the user
manual.
The encoder is loose Check the drive connector of Install the encoder again
CN2 and encoder
Bad connection of the Check if the connection between Reconnect the wiring
encoder
CN2 of the drive and the encoder
of the servo motor is loose
The
encoder
is Check if the motor is damaged Change the motor
damaged
:Adjustment Error
Causes
analog
Checking Method
Corrective Actions
The
input Measure if the voltage of the Correctly ground the analog
contact is incorrectly analog input contact is the same input contact
set back to zero
as the ground voltage
The detection device is Reset the power supply
If the error still occurs after reset,
damaged
send the drive back to the
distributors or contact with Delta.
:Emergency Stop
Causes
Checking Method
Corrective Actions
Press the emergency Check if the emergency stop Activate emergency stop
stop button
button is enabled.
:Reverse Limit Error
Causes
Checking Method
Corrective Actions
Reverse limit switch is Check if the limit switch is Enable the reverse limit switch
activated.
enabled.
The servo system is Check the control parameter and Re-adjust the parameter
unstable.
inertia ratio
evaluate the motor capacity.
10-14
or
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:Forward Limit Error
Causes
Checking Method
Corrective Actions
Forward limit switch is Check if the limit switch is Enable the forward limit switch
activated.
enabled.
The servo system is Check the control parameter and Re-adjust the parameter
unstable.
inertia ratio
evaluate the motor capacity.
or
:IGBT Overheat
Causes
Checking Method
Corrective Actions
Over the rated loading Check if it is overloading or the Increase the motor capacity or
reduce the load.
of the drive and motor current is too high.
continuously excessive
using
The drive output is Check the drive output wiring
short-circuit
Correct wiring
:Abnormal EE-PROM
Causes
Checking Method
It is in error when DSP Press the SHIFT Key on the
accesses EEPROM.
panel and it shows EXGAB.
Corrective Actions
The fault occurs when applying
to the power. It means one of the
parameters is over the
X = 1, 2, 3
reasonable range. Please
G=group code of the parameter
re-power on after adjusting.
AB=hexadecimal of the
parameter
If it shows E320A, it means it is
parameter P2-10; If it shows
E3610, it means it is parameter
P6-16. Please check the
parameter.
Abnormal
parameter
Data in
damaged.
April, 2013
hidden Press the SHIFT Key on the
panel and it shows E100X
ROM
is Press the SHIFT Key on the
panel and it shows E0001
The fault occurs in normal
operation. It means it is in error
when writing the parameter. The
alarm can be cleared by
DI.ARST.
The fault occurs in parameter
reset. The setting of the drive is
wrong. Please set the correct
type of the drive.
The fault occurs when it is
servo-on. Usually it is because
the data in ROM is damaged or
10-15
ASDA-M
Chapter 10 Troubleshooting
Causes
Checking Method
Corrective Actions
there is no data in ROM. Please
send the drive back to the
distributors or contact with Delta.
:Abnormal Signal Output
Causes
Checking Method
The encoder is in error Check the fault records
Corrective Actions
Conduct the corrective actions of
and
cause
the (P4-00~P4-05). See if the alarm AL011, AL024, AL025, AL026
abnormal signal output exists with the encoder error
(AL011, AL024, AL025, AL026)
The
output
pulse Check if the following conditions Correctly set parameter P1-76
and P1-46:
exceeds the hardware produce:
allowable range.
P1-76 < Motor Speed or
P1-76 > Motor Speed or
Motor Speed
 P1  46  4  19.8  10 6
60
Motor Speed
 P1  46  4  19.8  106
60
:Serial Communication Error
Causes
Checking Method
Improper setting of the Check the setting value
communication parameter
communication
parameter
Incorrect
communication
address
Incorrect
communication value
Corrective Actions
of Correctly set the parameter
value
Check the communication
address
Correctly set the communication
address
Check the accessing value
Correctly set the value
:Serial Communication Time Out
Causes
Checking Method
Improper setting of the Check the parameter setting
time-out parameter
The
drive
hasn’t
Check if the communication
cable is loose or broken.
Corrective Actions
Correctly set the value
Correct wiring
received
the
communication
command for a long
time.
10-16
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:Reserved
:Main circuit power leak phase
Causes
Checking Method
Corrective Actions
The main circuit power Check if the power cable is loose Apply the three-phase power. If it
is abnormal
or there is one single phase input is still abnormal, please send the
only.
drive back to the distributors or
contact with Delta.
:Early warning for overload
Causes
Early warning for
overload
Checking Method
Corrective Actions
1. Check if it is used in overload 1. Please refer to the corrective
condition.
actions of AL006.
2. Check if the value of 2. Please increase the setting
parameter P1-56 is set to
value of parameter P1-56. Or
small.
set the value over 100 and
deactivate
the
overload
warning function.
:Encoder initial magnetic field error
Causes
Checking Method
Corrective Actions
The initial magnetic 1. Check if the servo is properly If the situation is not improving,
field is of the encoder grounded.
please send the drive back to the
in error
distributors or contact with Delta.
2. Check if the encoder cable
(Signal, U, V, W of the
encoder magnetic field
is in error.)
separates from the power
supply or the high-current
circuit to avoid the
interference.
3. Check if the shielding cables
are used in the wiring of the
encoder.
:The internal of the encoder is in error
Causes
Checking Method
Corrective Actions
The internal of the 1. Check if the servo is properly 1. Please connect the UVW
encoder is in error.
grounded.
connector (color green) to the
heat sink of the servo drive.
(The internal memory 2. Check if the encoder cable
and
April, 2013
the
internal
separates from the power
2. Please check if the encoder
10-17
ASDA-M
Chapter 10 Troubleshooting
counter are in error)
supply or the high-current
circuit to avoid the
interference.
cable separates from the
power
supply
or
the
high-current circuit.
3. Check if the shielding cables 3. Please use shielding mesh.
are used in the wiring of the 4. If the situation is not
encoder.
improving, please send the
drive back to the distributors
or contact with Delta.
:Unreliable internal data of the encoder
Causes
Checking Method
Corrective Actions
The encoder is in error. 1. Check if the servo is properly 1. Please connect the UVW
grounded.
connector (color green) to the
(Errors occur in the
heat sink of the servo drive.
internal data for three 2. Check if the encoder cable
times continuously)
separates from the power 2.
supply or the high-current
circuit
to
avoid
the
interference.
Please check if the encoder
cable separates from the
power
supply
or
the
high-current circuit.
3. Check if the shielding cables 3. Please use shielding mesh.
are used in the wiring of the 4. If the situation is not
encoder.
improving, please send the
drive back to the distributors
or contact with Delta.
:The internal of the motor is in error
Causes
Checking Method
Corrective Actions
The internal reset of 1. Check if the servo is properly 1. Please connect the UVW
connector (color green) to the
grounded.
the encoder is in error.
2. Check if the encoder cable heat sink of the servo drive.
separates from the power 2. Please check if the encoder
supply or the high-current cable separates from the
circuit
to
avoid
the power supply or the
high-current circuit.
interference.
3. Check if the shielding cables 3. Please use shielding mesh.
are used in the wiring of the 4. If the situation is not
encoder.
improving, please send the
drive back to the distributors or
contact with Delta.
10-18
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:The internal of the motor is in error
Causes
Checking Method
Corrective Actions
The signal, UVW of the 1. Check if the servo is properly 1. Please connect the UVW
connector (color green) to the
internal encoder is in grounded.
2. Check if the encoder cable heat sink of the servo drive.
error.
separates from the power 2. Please check if the encoder
supply or the high-current cable separates from the
circuit
to
avoid
the power supply or the
interference.
high-current circuit.
3. Check if the shielding cables 3. Please use shielding mesh.
are used in the wiring of the 4. If the situation is not
encoder.
improving, please send the
drive back to the distributors or
contact with Delta.
:The internal of the motor is in error
Causes
Checking Method
Corrective Actions
The internal address of 1. Check if the servo is properly 1. Please connect the UVW
connector (color green) to the
grounded.
the encoder is in error.
2. Check if the encoder cable
heat sink of the servo drive.
separates from the power
2. Please check if the encoder
supply or the high-current
cable separates from the
circuit to avoid the
power supply or the
interference.
high-current circuit.
3. Check if the shielding cables 3. Please use shielding mesh.
are used in the wiring of the 4. If the situation is not
encoder.
improving, please send the
drive back to the distributors or
contact with Delta.
:Motor Crash Error
Causes
Motor Crash Error
April, 2013
Checking Method
1. Check if P1-57 is enabled.
Corrective Actions
1. If it is enabled by mistake,
please set P1-57 to zero.
2. Check if P1-57 is set too small
and the time of P1-58 is set 2. According to the actual torque
too short.
setting, if the value is set too
small, the alarm will be
triggered
by
mistake.
10-19
ASDA-M
Chapter 10 Troubleshooting
However, if the value is set
too big, it will lose the function
of protection.
:Incorrect wiring of the motor power line U, V, W, GND
Causes
Checking Method
Corrective Actions
The wiring of U, V, W, Check if U, V, W of the motor is Follow the user manual to
GND of the motor is incorrect connected.
correctly wire U, V, W and make
incorrect connected.
sure it is grounded.
:Excessive deviation of full closed-loop position control
Causes
Checking Method
Corrective Actions
1. Check if P1-73 is set too 1. Increase the value of P1-73.
Excessive deviation of
small.
2. Check if the connection is
full closed-loop position
well connected.
2. Check if the connector is
control
loose or there is any
connection problem of other
mechanism.
:Communication of linear scale is breakdown
Causes
Checking Method
Corrective Actions
The communication of Check the communication of Check the communication of
linear scale again.
linear
scale
is linear scale.
breakdown
:Excessive deviation between two axes of the gantry
Causes
Checking Method
Corrective Actions
The deviation of two 1. Check if the value of P2-59 is 1. Increase the value of P2-59.
set too small.
selected axes of the
2. Check if the connection is
gantry exceeds the 2. Check if the connection is well connected.
setting value of P2-59
loose or there is any
during operation.
connection problem of gantry
mechanism.
10-20
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:Abnormal Gantry selection
Causes
Checking Method
Corrective Actions
When enabling gantry Check if the value of P2-58 which Check the setting of parameter
function, not select any can operate the two axes of the P2-58 again.
two axes as the gantry is correct.
operation axis. Then
the error occurs.
:DSP firmware upgrade
Causes
Checking Method
Upgrade DSP firmware Check if the firmware
upgraded.
Corrective Actions
is Firstly set P2-08 to 30. Then set
P2-08 to 28, the alarm will be
cleared when re-power on.
:CANopen SDO receives overflow
Causes
Checking Method
Corrective Actions
SDO
Rx
Buffer Check if the servo drive receives NMT:
Reset
node
overflow
(receives (sends) more than one SOD 0x6040.Fault Reset
more than two SDOs within 1ms.
within 1ms)
or
:CANopen PDO receives overflow
Causes
Checking Method
Corrective Actions
PDO
Rx
Buffer Check if the servo drive receives NMT:
Reset
node
overflow
(receives (sends) more than one PDO of 0x6040.Fault Reset
more than two PDOs of COBID within 1ms.
COBID within
millisecond)
or
one
:Index error occurs when accessing CANopen PDO
Causes
Checking Method
Corrective Actions
The specified Index in Check if the Entry Index of PDO NMT:
Reset
node
the message does not Mapping is modified when PDO 0x6040.Fault Reset
exist.
is receiving or sending
April, 2013
or
10-21
ASDA-M
Chapter 10 Troubleshooting
:Sub-Index error occurs when accessing CANopen PDO
Causes
The specified
Sub-Index in the
message does not
exist.
Checking Method
Corrective Actions
Check if the Entry Sub-index of NMT:
Reset
node
PDO Mapping is modified when 0x6040.Fault Reset
PDO is receiving or sending.
or
:Data Size error occurs when accessing CANopen PDO
Causes
Checking Method
Corrective Actions
The data length in the Check if the data length of Entry NMT:
Reset
node
message does not of PDO Mapping is modified 0x6040.Fault Reset
match to the specified when PDO
object.
sending.
is
receiving
or
or
:Data range error occurs when accessing CANopen PDO
Causes
Checking Method
Corrective Actions
The data value in the Check if the written range is NMT:
Reset
node
message is over the wrong when PDO is receiving or 0x6040.Fault Reset
range of the specified sending.
object.
or
:CANopen PDO Object is read-only and write-protected
Causes
Checking Method
Corrective Actions
The specified object in Check if the specified object is NMT:
Reset
node
the
message
is read-only when PDO is receiving 0x6040.Fault Reset
write-protected.
or sending.
or
:CANopen PDO Object is not allowed in PDO
Causes
Checking Method
Corrective Actions
The specified object in Check if the specified object NMT:
Reset
node
the message does not allows PDO Mapping when PDO 0x6040.Fault Reset
support PDO.
is receiving or sending.
10-22
or
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:CANopen PDO Object is write-protected when Servo On
Causes
Checking Method
The specified object in Check that when PDO
the
message
write-protected
Servo ON
is receiving
or
sending,
if
Corrective Actions
is NMT:
Reset
node
the 0x6040.Fault Reset
or
when specified object is write-protected
when Servo On.
:Error occurs when reading CANopen PDO object via EEPROM
Causes
Checking Method
An error occurs when When PDO is receiving
Corrective Actions
or NMT:
Reset
node
default sending, check if the error occurs 0x6040.Fault Reset
or
loading the
value via ROM at because the specified object
start-up. All objects of reads EEPROM.
CAN returns to the
default
automatically.
value
:Error occurs when writing CANopen PDO object via EEPROM
Causes
Checking Method
An error occurs when When PDO is receiving
saving the
value into ROM.
Corrective Actions
or NMT:
Reset
node
current sending, check if the error occurs 0x6040.Fault Reset
or
because the specified object is
wrote into EEPROM
:The accessing address of EEPROM is out of range when using
CANopen PDO object
Causes
Checking Method
Corrective Actions
The quantity of the Check that when PDO is NMT:
Reset
node
data inside ROM is receiving or sending, if the 0x6040.Fault Reset
over
the
planned specified
object
enables
space. It is probably EEPROM address exceeds the
because the software limit.
or
has been updated. The
data inside ROM is
stored by the old
version. Thus, it cannot
be used.
April, 2013
10-23
ASDA-M
Chapter 10 Troubleshooting
:CRC of EEPROM calculation error occurs when using CANopen PDO
object
Causes
Checking Method
Corrective Actions
It means the data Check if the specified object NMT:
Reset
node
or
stored in ROM is would cause CRC calculation 0x6040.Fault Reset
damaged. All CAN error in EEPROM when PDO is
objects automatically receiving or sending.
returns to the default
value.
:Enter the incorrect password when using CANopen PDO object
Causes
Checking Method
Corrective Actions
When
entering Check if the specified object NMT:
Reset
node
parameters via CAN, enters the wrong password when 0x6040.Fault Reset
parameters
are PDO is receiving or sending.
or
password-protected.
Users have to decode
the password first.
:Abnormal CAN Bus hardware
Causes
Abnormal CAN
hardware
Checking Method
Corrective Actions
Bus 1. Check if the communication NMT: Reset node or re-servo on
cable of CAN Bus is good.
2. Check if the communication
quality is good. (It is
suggested to use common
grounding
and
shielded
cable)
:An error occurs when loading CANopen data
Causes
Checking Method
Corrective Actions
An error occurs when 1. If the alarm is cleared when DI:ARST,CANopen 0x1011
loading CANopen data
re-servo on, it means the data Restore default parameter
error occurs instantaneously
when accessing in the
previous time.
2. If the error still exists after
re-servo on, it means the data
10-24
April, 2013
Chapter 10 Troubleshooting
ASDA-M
in EEPROM is damaged. It
has to enter the correct value
again. The method is as the
followings:
a. If the user desires to enter
the default value, it can set
P2-08 to 30, 28 or
CANopen
object
as
0x1011.
b. If the user desires to enter
the current value, it can set
CANopen
object
to
0x1010. (Please refer to
CANopen description.)
~
Causes
PR commands TYPE 8
Error occurs when
writing parameters
:An error occurs when writing parameter via PR
Checking Method
Corrective Actions
:parameter exceeds DI:Alm Reset or
the range
P0-01 = 0
: the parameter is
read-only
: Servo ON or
invalid value
Re-adjust PR command and
parameters
: Servo ON or
invalid value
:PR command overflows
Causes
Checking Method
Corrective Actions
PR
command PR mode continuously operates NMT:
Reset
node
overflows
in one direction and causes 0x6040.Fault Reset
feedback register overflows. And
the coordinate system cannot
reflect the correct position. If
issuing the absolute positioning
command (except incremental) at
this time, the error will occur.
April, 2013
or
10-25
ASDA-M
Chapter 10 Troubleshooting
:PR positioning is over time
Causes
Checking Method
Corrective Actions
PR positioning is over This alarm will not occur at the NMT:
Reset
node
time
0x6040.Fault Reset
moment. If it does, please
contact the distributors.
or
:The number of PR command exceeds the range
Causes
Checking Method
Corrective Actions
The number of PR This alarm will not occur at the NMT:
Reset
node
command exceeds the
moment. If it does, please 0x6040.Fault Reset
range
contact the distributors.
or
:Index error occurs when accessing CAN object
Causes
Checking Method
Corrective Actions
The specified Index in This alarm will not occur at the NMT:
Reset
node
the message does not moment. If it does, please 0x6040.Fault Reset
exist.
contact the distributors.
or
:Sub-Index error occurs when accessing CAN object
Causes
The specified
Sub-Index in the
message does not
exist.
Checking Method
Corrective Actions
This alarm will not occur at the NMT:
Reset
node
moment. If it does, please 0x6040.Fault Reset
contact the distributors.
or
:Data size error occurs when accessing CAN object
Causes
Checking Method
Corrective Actions
The data length in the This alarm will not occur at the NMT:
Reset
node
message does not moment. If it does, please 0x6040.Fault Reset
match to the specified contact the distributors.
object.
or
:Data range error occurs when accessing CAN Object
Causes
data
in
Checking Method
Corrective Actions
The
the This alarm will not occur at the NMT:
Reset
node
message is over the moment. If it does, please 0x6040.Fault Reset
range of the specified contact the distributors.
10-26
or
April, 2013
Chapter 10 Troubleshooting
ASDA-M
object.
:CAN Object is read-only and write-protected
Causes
Checking Method
Corrective Actions
The specified object in This alarm will not occur at the NMT:
Reset
node
the
message
is moment. If it does, please 0x6040.Fault Reset
write-protected.
contact the distributors.
or
:CANopen PDO Object is not allowed in PDO
Causes
Checking Method
Corrective Actions
The specified object in This alarm will not occur at the NMT:
Reset
node
the message does not moment. If it does, please 0x6040.Fault Reset
support PDO
contact the distributors.
or
:CAN Object is write-protected when Servo On
Causes
Checking Method
Corrective Actions
The specified object in This alarm will not occur at the NMT:
Reset
node
the
message
is moment. If it does, please 0x6040.Fault Reset
write-protected when contact the distributors.
Servo ON
or
:Error occurs when reading CAN object via EEPROM
Causes
Checking Method
Corrective Actions
An error occurs when This alarm will not occur at the NMT:
Reset
node
loading the default moment. If it does, please 0x6040.Fault Reset
value via ROM at contact the distributors.
or
start-up. All objects of
CAN returns to the
default
value
automatically.
:Error occurs when writing CAN object via EEPROM
Causes
Checking Method
Corrective Actions
An error occurs when This alarm will not occur at the NMT:
Reset
node
saving the current moment. If it does, please 0x6040.Fault Reset
value into ROM.
contact the distributors.
April, 2013
or
10-27
ASDA-M
Chapter 10 Troubleshooting
:The accessing address of EEPROM is out of range when using CAN
object
Causes
Checking Method
Corrective Actions
The quantity of the This alarm will not occur at the NMT:
Reset
node
or
data inside ROM is moment. If it does, please 0x6040.Fault Reset
over
the
planned contact the distributors.
space. It is probably
because the software
has been updated. The
data inside ROM is
stored by the old
version. Thus, it cannot
be used.
:CRC of EEPROM calculation error occurs when using CAN object
Causes
Checking Method
Corrective Actions
It indicates that the This alarm will not occur at the NMT:
Reset
node
data stored in ROM moment. If it does, please 0x6040.Fault Reset
has been damaged. All contact the distributors.
or
objects of CAN will
return to the default
settings automatically.
:Enter the incorrect password when using CAN object
Causes
Checking Method
Corrective Actions
When
entering This alarm will not occur at the NMT:
Reset
node
parameters via CAN, moment. If it does, please 0x6040.Fault Reset
the parameters are contact the distributors.
or
password-protected.
Users have to decode
the password first.
:Forward Software Limit
Causes
Checking Method
Forward Software Limit Forward Software Limit
Corrective Actions
is NMT:
Reset
node
position 0x6040.Fault Reset
or
determined by the
command,
not
the
actual
feedback position. It is because
10-28
April, 2013
Chapter 10 Troubleshooting
ASDA-M
the command will arrive first and
then the feedback. When the
protection function is activated,
the actual position might not over
the limit. Therefore, setting an
appropriate decelerating time
could satisfy the demand. Please
refer to the description of
parameter P5-03.
:Reverse Software Limit
Causes
Checking Method
Reverse Software Limit Reverse Software Limit
Corrective Actions
is NMT:
Reset
node
position 0x6040.Fault Reset
or
determined by the
command,
not
the
actual
feedback position. It is because
the command will arrive first and
then the feedback. When the
protection function is activated,
the actual position might not over
the limit. Therefore, setting an
appropriate decelerating time
could satisfy the demand. Please
refer to the description of
parameter P5-03.
:Feedback position counter overflows
Causes
Checking Method
Corrective Actions
Feedback
position This alarm will not occur at the NMT:
Reset
node
counter overflows
moment. If it does, please 0x6040.Fault Reset
contact the distributors.
or
:CANopen fails to synchronize
Causes
CANopen
fails
synchronize
Checking Method
to 1. Check if the communication
quality of the circuit is bad.
2. Check if the controller sends
SYNC signal successfully.
Corrective Actions
NMT:
Reset
node
0x6040.Fault Reset
or
3. Check if the setting of P3-09 is
April, 2013
10-29
ASDA-M
Chapter 10 Troubleshooting
reasonable. (It is better to use
the default value)
: The synchronized signal of CANopen is sent too fast
Causes
Checking Method
Corrective Actions
The
synchronized 1. Check if synchronized cycle
NMT:
Reset
node
0x6040.Fault Reset
signal of CANopen is 0x1006 is the same as the
setting of controller.
sent too fast
2. Check if the setting of P3-09 is
reasonable. (It is better to use
the default value)
or
3. Check if the order of controller
is incorrect.
: The synchronized signal of CANopen is sent too slow
Causes
Checking Method
Corrective Actions
The
synchronized 1. Check if the communication
NMT:
Reset
node
signal of CANopen is quality of the circuit is bad.
0x6040.Fault Reset
sent too slow
2. Check if synchronized cycle
0x1006 is the same as the
setting of controller.
3. Check if the setting of P3-09 is
reasonable. (It is better to use
the default value)
or
4. Check if the order of controller
is incorrect.
:CANopen IP command fails
Causes
Checking Method
Corrective Actions
CANopen IP command The calculating time of IP mode NMT:
Reset
node
takes too long. Please disable 0x6040.Fault Reset
fails
USB monitoring function.
or
:SYNC Period is in error
Causes
Checking Method
Corrective Actions
SYNC Period is in error Examine the content of 0x1006.If NMT:
Reset
node
it is smaller than or equals to 0, 0x6040.Fault Reset
or
the alarm will occur.
10-30
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:Position Deviation Alarm
Causes
Checking Method
Corrective Actions
DO.MC_OK is ON and Please refer to the description of DI:Alm Reset or
parameter P1-48.
becomes OFF.
P0-01= 0
After
DO.MC_OK
ON,
DO.MC_OK
becomes
OFF
because DO.TPOS turns OFF.
The position of the motor might
be deviated by the external force
after positioning. This alarm can
be cleared by P1-48.Y=0.
April, 2013
10-31
ASDA-M
Chapter 10 Troubleshooting
10.5 Corrective Actions after the Alarm Occurs
:Overcurrent
Turn DI.ARST on to clear the alarm.
:Overvoltage
Turn D.ARST on to clear the alarm.
:Undervoltage
The alarm can be cleared after the
voltage returns to normal.
:The magnetic field of the motor is The alarm can be cleared after
re-power on.
abnormal
:Regeneration error
Turn DI.ARST on to clear the alarm.
:Overload
Turn DI.ARST on to clear the alarm.
:Excessive speed deviation
Turn DI.ARST on to clear the alarm.
:Abnormal pulse command
Turn DI.ARST on to clear the alarm.
:Excessive deviation of position
control
Turn DI.ARST on to clear the alarm.
:Encoder error
The alarm can be cleared after
re-power on.
:Adjustment error
The alarm can be cleared when
removing CN1 wiring and execute
auto adjustment.
:Emergency stop
The
alarm
can
be
cleared
automatically after turning DI.EMGS
off
:Reverse Limit Error
Turn DI.ARST on or Servo Off to clear
the alarm. The alarm also can be
cleared when the motor operates
backwards.
:Forward Limit Error
Turn DI.ARST on or Servo Off to clear
the alarm. The alarm also can be
cleared when the motor operates
backwards.
:The temperature of IGBT is abnormal Turn DI.ARST on to clear the alarm.
:Abnormal EEPROM
10-32
If the alarm occurs, then parameter
reset is a must. And re-servo on again.
If it happens during the operation,
please turn DI.ARST on to clear the
alarm.
April, 2013
Chapter 10 Troubleshooting
ASDA-M
:Abnormal signal output
Turn DI.ARST on to clear the alarm.
:Serial Communication Error
Turn DI.ARST on to clear the alarm.
:Serial Communication Time Out
Turn DI.ARST on to clear the alarm.
:Main circuit power leak phase
Turn DI.ARST on to clear the alarm.
:Early warning for overload
Turn DI.ARST on to clear the alarm.
:Encoder initial magnetic field error
The alarm can be cleared after
re-power on.
:The internal of the encoder is in error
The alarm can be cleared after
re-power on.
:The encoder is in error
The alarm can be cleared after
re-power on.
:Motor Crash Error
Turn DI.ARST on to clear the alarm.
:Incorrect wiring of the motor power The alarm can be cleared after
re-power on.
line U, V, W, GND
:Excessive deviation of full
Turn DI.ARST on to clear the alarm.
closed-loop position control
:The communication of linear scale is
Turn DI.ARST on to clear the alarm.
breakdown
:Excessive deviation between two
Turn DI.ARST on to clear the alarm.
axes of the gantry
:Gantry selection is in error
:DSP firmware upgrade
:CANopen SDO receives buffer
overflow
:CANopen PDO receives buffer
overflow
April, 2013
Turn DI.ARST on to clear the alarm.
Firstly set P2-08 to 30. Then set it to
28. And the alarm will be cleared after
re-power on.
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
10-33
ASDA-M
Chapter 10 Troubleshooting
:Index error occurs when accessing NMT: Reset node or 0x6040.Fault
Reset
CANopen PDO
:Sub-Index error occurs when
accessing CANopen PDO
:Data Size error occurs when
accessing CANopen PDO
:Data range error occurs when
accessing CANopen PDO
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
:CANopen PDO object is read-only NMT: Reset node or 0x6040.Fault
Reset
and write-protected.
:CANopen PDO object is not allowed NMT: Reset node or 0x6040.Fault
Reset
in PDO
:CANopen PDO object is
write-protected when Servo On
NMT: Reset node or 0x6040.Fault
Reset
:Error occurs when reading CANopen NMT: Reset node or 0x6040.Fault
Reset
PDO object via EEPROM
:Error occurs when writing CANopen NMT: Reset node or 0x6040.Fault
Reset
PDO object via EEPROM
:The accessing address of EEPROM
NMT: Reset node or 0x6040.Fault
is out of range when using CANopen Reset
PDO object
:CRC of EEPROM calculation error
NMT: Reset node or 0x6040.Fault
occurs when using CANopen PDO Reset
object
:Enter the incorrect password when NMT: Reset node or 0x6040.Fault
Reset
using CANopen PDO object
:Abnormal CAN Bus hardware
10-34
NMT: Reset node or re-servo on
April, 2013
Chapter 10 Troubleshooting
:An error occurs when loading
CANopen data
ASDA-M
Turn DI.ARST on to clear the alarm.
CANopen 0x1011 Restore default
parameter
:An error occurs when writing
parameter via PR:exceeds the
range
:An error occurs when writing
parameter via PR:read-only
DI.Alm Reset or P0-01= 0
DI.Alm Reset or P0-01= 0
:An error occurs when writing
PR
command
and
:An error occurs when writing
PR
command
and
Re-adjust
parameter via PR:parameter locked parameter
Re-adjust
parameter via PR:parameter locked parameter
:PR command overflows
NMT: Reset node or 0x6040.Fault
Reset
:PR positioning is over time
NMT: Reset node or 0x6040.Fault
Reset
:The number PR command exceeds NMT: Reset node or 0x6040.Fault
Reset
the range
:Index error occurs when accessing NMT: Reset node or 0x6040.Fault
Reset
CAN object
:Sub-Index error occurs when
accessing CAN object
:Data Size error occurs when
accessing CAN object
:Data range error occurs when
accessing CAN.
:CAN object is read-only and
write-protected
:PDO is not allowed in CAN object
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
NMT: Reset node or 0x6040.Fault
Reset
:CAN object is write-protected when NMT: Reset node or 0x6040.Fault
Reset
Servo On
April, 2013
10-35
ASDA-M
Chapter 10 Troubleshooting
:Error occurs when reading CAN
object via EEPROM
NMT: Reset node or 0x6040.Fault
Reset
:Error occurs when writing CAN object NMT: Reset node or 0x6040.Fault
Reset
via EEPROM
:The accessing address of EEPROM
NMT: Reset node or 0x6040.Fault
is out of range when using CAN Reset
object
:CRC of EEPROM calculation error NMT: Reset node or 0x6040.Fault
Reset
occurs when using CAN object
:Enter the incorrect password when NMT: Reset node or 0x6040.Fault
Reset
using CAN object
:Forward Software Limit
NMT: Reset node or 0x6040.Fault
Reset
:Reverse Software Limit
NMT: Reset node or 0x6040.Fault
Reset
:Feedback position counter overflows
NMT: Reset node or 0x6040.Fault
Reset
:CANopen fails to synchronize
NMT: Reset node or 0x6040.Fault
Reset
:The synchronized signal of CANopen NMT: Reset node or 0x6040.Fault
Reset
is sent too fast
:The synchronized signal of CANopen NMT: Reset node or 0x6040.Fault
Reset
is sent too slow
10-36
:CANopen IP command is failed
NMT: Reset node or 0x6040.Fault
Reset
:SYNC Period is in error
NMT: Reset node or 0x6040.Fault
Reset
:Position Deviation Alarm
DI.Alm Reset or P0-01= 0
April, 2013
Chapter 11 Specification
ASDA-M
Chapter 11 Specifications
11.1 Specifications of Servo Drive (ASDA-M Series)
ASD-M Series
Power
Phase/Voltage
Permissible
voltage
Continuous output
current
750W
1.5KW
2 KW
07
15
20
Three phase or single phase 220 VAC
Three phase 220 VAC
Single phase / Three phase: 200 ~ 230 VAC, -15%~10%
Three phase: 200 ~ 230 VAC,
-15%~10%
5.1 Arms
8.3 Arms
Fan cooling
Encoder resolution
/Feedback resolution
20-bit (1280000 p/rev)
Main circuit control
SVPWM Control
Control mode
Manual/Auto
Dynamic brake
Built-in
Max. input pulse
frequency
Transmitted by differential: 500K/4Mpps, transmitted by open-collector:
200Kpps
Pulse type
Pulse + symbol; A phase + B phase; CCW pulse + CW pulse
Command source
External pulse/Register
Smoothing
strategy
Low-pass and P-curve filter
E-gear ratio: N/M time, limitation: (1/50 < N/M < 25600)
E-gear ratio
N: 1~32767/M: 1:32767
Torque limit
Parameter settings
Feed forward
compensation
Voltage
range
Input
resistance
Time
constant
Speed control
range*1
Analog
command
input
Speed control mode
Position control mode
Cooling method
13.4 Arms
Parameter settings
0 ~ ±10 VDC
10K
2.2 us
1:5000
Command source
External analog command / Register
Smoothing
strategy
Low-pass and S-curve filter
Torque limit
Via parameter setting or analog input
Bandwidth
Max. 1kHz
*2
Speed accuracy
April, 2013
The load fluctuation (0 ~ 100%) is 0.01%
11-1
ASDA-M
Chapter 11 Specifications
ASD-M Series
750W
1.5kW
2kW
07
15
20
The power fluctuation (±10%) is 0.01%
Torque control mode
Analog
command
input
The ambient temperature fluctuation (0 ~ 50℃) is 0.01%
Voltage
range
Input
resistance
Time
constant
2.2 us
External analog command / Register
Smoothing
strategy
Low-pass filter
Speed limit
Via parameter setting or analog input
Input
Output
Digital
Input/Output
Protective function
Communication
interface
Environment
10K
Command source
Analog monitor output
11-2
0 ~ ±10 VDC
The monitor signal which can be set via parameters (Output voltage range:
±8V)
Servo on, Fault reset, Gain switch, Pulse clear, Zero clamp, Command input
reverse control, Internal position command trigger, Torque limit, Speed limit,
Internal position command selection, Motor stop, Speed command selection,
Speed / position mode switching, Speed / torque mode switching, Torque /
position mode switching, Pt/Pr command switching, Emergency stop, Positive
/ negative limit, Original point, Forward / reverse operation torque limit, Homing
activated, E-CAM engage, Forward / reverse JOG input, Event trigger, E-gear
N selection, Pulse input exhibition
A, B, Z Line Driver output
Servo on, Servo ready, Zero speed, Target speed reached, Target position
reached, torque limiting, Servo alarm, Mechanical brake control, Homing
completed, Early warning for overload, Servo warning, Position command
overflows, Software negative limit, Software positive limit, Internal position
command completed, Capture procedure completed, Servo procedure
completed, Master position area of E-CAM
Over current, Overvoltage, Undervoltage, Overheat, Regeneration error,
Overload, Excessive speed deviation, Excessive position deviation, Encoder
error, Adjustment error, Emergency stop, Negative / positive limit error,
Excessive deviation of full-closed loop control, Serial communication error, Rst
leak phase, Serial communication timeout, Short-circuit protection of terminal
U, V, W and CN1, CN2, CN3
RS-232/RS-485/CANopen/USB
Installation site
Indoors (avoid the direct sunlight), no corrosive fog (avoid fume, flammable gas
and dust)
Altitude
Elevation under 1000M
Atmospheric
pressure
Operating
temperature
Storage
temperature
0℃ ~ 55℃ (If the temperature is over 45℃, forced air circulation is needed.)
Humidity
Under 0 ~ 90% RH (non-condensing)
Vibrating
Under 20Hz, 9.80665m/s (1G), 20 ~ 50Hz 5.88m/ s (0.6G)
86kPa ~ 106kPa
-20℃ ~ 65℃
2
2
April, 2013
Chapter 11 Specification
ASDA-M
IP rating
IP20
Power system
TN system*3
IEC/EN 61800-5-1, UL 508C, C-tick
Approvals
Note:
*1 When it is in rated load, the speed ratio is: the minimum speed (smooth operation) /rated speed.
*2 When the command is the rated speed, the velocity correction ratio is: (rotational speed with no load –
rotational speed with full load) / rated speed.
*3 TN system: The neutral point of the power system connects to the ground directly. The exposed metal
components connect to the ground via the protective earth conductor.
April, 2013
11-3
ASDA-M
Chapter 11 Specifications
11.2 Specifications of Servo Motor (ECMA Series)
Low inertia series (ECMA-C1)
C104
ECMA
C106
C108
C109
C110
01
02
04
04
07
07
10
10
20
Rated power (kW)
0.1
0.2
0.4
0.4
0.75
0.75
1.0
1.0
2.0
Rated torque (N-m)*1
0.32
0.64
1.27
1.27
2.39
2.39
3.18
3.18
6.37
Max. torque (N-m)
0.96
1.92
3.82
3.82
7.16
7.14
8.78
9.54
19.1
Rated speed (r/min)
3000
Max. speed (r/min)
5000
0.90
1.55
2.60
2.60
5.10
3.66
4.25
7.30
12.05
2.70
4.65
7.80
7.80
15.3
11
12.37
21.9
36.15
27.7
22.4
57.6
24.0
50.4
29.6
38.6
38.1
90.6
Rotor inertia (× 10-4kg.m )
0.037
0.177
0.277
0.68
1.13
1.93
2.62
2.65
4.45
Mechanical constant (ms)
0.75
0.80
0.53
0.74
0.63
1.72
1.20
0.74
0.61
0.36
0.41
0.49
0.49
0.47
0.65
0.75
0.44
0.53
13.6
16.0
17.4
18.5
17.2
27.5
24.2
16.8
19.2
Armature resistance (Ohm)
9.30
2.79
1.55
0.93
0.42
1.34
0.897
0.20
0.13
Armature inductance (mH)
24.0
12.07
6.71
7.39
3.53
7.55
5.7
1.81
1.50
Electric constant (ms)
2.58
4.30
4.30
7.96
8.36
5.66
6.35
9.30
11.4
Rated current (A)
Max. instantaneous current
(A)
Max. power per second
(kW/s)
2
Torque constant –
KT(N-m/A)
Voltage constant – KE
(mV/(r/min))
Class A (UL), Class B (CE)
Insulation class
>100M, DC 500V
Insulation resistance
AC 1500V, 60 seconds
Insulation strength
Weight – without brake (kg)
0.5
1.2
1.6
2.1
3.0
2.9
3.8
4.3
6.2
Weight – with brake (kg)
0.8
1.5
2.0
2.9
3.8
3.69
5.5
4.7
7.2
Radial max. loading (N)
78.4
196
196
245
245
245
245
490
490
Axial max. loading (N)
39.2
68
68
98
98
98
98
98
98
25.6
21.3
53.8
22.1
48.4
29.3
37.9
30.4
82.0
0.04
0.19
0.30
0.73
1.18
1.95
2.67
3.33
4.95
0.81
0.85
0.57
0.78
0.65
1.74
1.22
0.93
0.66
0.3
1.3
1.3
2.5
2.5
2.5
2.5
8.0
8.0
7.3
6.5
6.5
8.2
8.2
8.2
8.2
19.4
19.4
5
10
10
10
10
10
10
10
10
25
70
70
70
70
70
70
70
70
Max. power per second
(kW/s) (with brake)
2
Rotor inertia (× 10-4kg.m )
(with brake)
Mechanical constant (ms)
(with brake)
Brake holding torque
[Nt-m (min)] *2
Brake power consumption
(at 20˚C) [W]
Brake release time [ms
(Max)]
Brake pull-in time
[ms (Max)]
Vibration grade (μm)
11-4
15
April, 2013
Chapter 11 Specification
ASDA-M
C104
ECMA
01
C106
02
C108
04
04
C109
07
07
C110
10
10
20
Operating temperature (˚C)
0 ~ 40
Storage temperature (˚C)
-10 ~ 80
Operating humidity
20 ~ 90%RH (non-condensing)
Storage humidity
20 ~ 90%RH (non-condensing)
Vibration capacity
2.5G
IP Rating
IP65 (use the waterproof connector and shaft seal installation (or oil seal)
model)
Approvals
Note:
*1 The rated torque is the continuous permissible torque between 0~40˚C operating temperature which is
suitable for the following heat sink dimension.
ECMA-_ _ 04 / 06 / 08:250mm x 250mm x 6mm
ECMA-_ _ 10:300mm x 300mm x 12mm
ECMA-_ _ 13:400mm x 400mm x 20mm
ECMA-_ _ 18:550mm x 550mm x 30mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2 The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or
as the dynamic brake.
April, 2013
11-5
ASDA-M
Chapter 11 Specifications
Low inertia series (ECMA-C2)
C204
ECMA
Rated power (kW)
Rated torque (N-m)
*1
Max. torque (N-m)
C206
C208
02
04
04
07
07
10
10
20
0.1
0.2
0.4
0.4
0.75
0.75
1.0
1.0
2.0
0.32
0.64
1.27
1.27
2.39
2.38
3.18
3.18
6.37
0.96
1.92
3.82
3.82
7.16
7.14
8.78
9.54
19.11
3000
5000
Max. speed (r/min)
Max. instantaneous
current (A)
Max. power per second
(kW/s)
Rotor inertia
2
(× 10-4kg.m )
Mechanical constant
(ms)
Torque constant –
KT(N-m/A)
Voltage constant – KE
(mV/(r/min))
Armature resistance
(Ohm)
Armature inductance
(mH)
Electric constant (ms)
C210
01
Rated speed (r/min)
Rated current (A)
C209
3000
5000
0.90
1.55
2.60
2.60
5.10
3.66
4.25
7.30
12.05
2.70
4.65
7.80
7.74
15.3
11
12.37
21.9
36.15
27.7
22.4
57.6
22.1
48.4
29.6
38.6
38.1
90.6
0.037
0.177
0.277
0.68
1.13
1.93
2.62
2.65
4.45
0.75
0.80
0.53
0.73
0.62
1.72
1.20
0.74
0.61
0.36
0.41
0.49
0.49
0.47
0.65
0.75
0.43
0.53
13.6
16.0
17.4
18.5
17.2
27.5
24.2
16.8
19.2
9.30
2.79
1.55
0.93
0.42
1.34
0.897
0.20
0.13
24.0
12.07
6.71
7.39
3.53
7.55
5.7
1.81
1.50
2.58
4.30
4.30
7.96
8.36
5.66
6.35
9.30
11.4
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
>100M, DC 500V
Insulation strength
AC 1500V, 60 sec
Weight – without brake
(kg)
0.5
1.2
1.6
2.1
3.0
2.9
3.8
4.3
6.2
Weight – with brake (kg)
0.8
1.5
2.0
2.9
3.8
3.69
5.5
4.7
7.2
Radial max. loading (N)
78.4
196
196
245
245
245
245
490
490
Axial max. loading (N)
39.2
68
68
98
98
98
98
98
98
25.6
21.3
53.8
22.1
48.4
29.3
37.9
30.4
82.0
0.04
0.192
0.30
0.73
1.18
1.95
2.67
3.33
4.95
0.81
0.85
0.57
0.78
0.65
1.74
1.22
0.93
0.66
0.3
1.3
1.3
2.5
2.5
2.5
2.5
8.0
8.0
7.2
6.5
6.5
8.2
8.2
8.2
8.2
18.5
18.5
5
10
10
10
10
10
10
10
10
Max. power per second
(kW/s) (with brake)
Rotor inertia
2
(× 10-4kg.m )
(with brake)
Mechanical constant
(ms) (with brake)
Brake holding torque
[Nt-m (min)] *2
Brake power
consumption (at 20˚C)
[W]
Brake release time
[ms (Max)]
11-6
April, 2013
Chapter 11 Specification
ECMA
Brake pull-in time
[ms (Max)]
ASDA-M
C204
C206
C208
C209
C210
01
02
04
04
07
07
10
10
20
25
70
70
70
70
70
70
70
70
15
Vibration grade (μm)
Operating temperature
(˚C)
Storage temperature
(˚C)
0 ~ 40
-10 ~ 80
Operating humidity
20 ~ 90%RH (non-condensing)
Storage humidity
20 ~ 90%RH (non-condensing)
Vibration capacity
2.5G
IP Rating
IP65 (use the waterproof connector and shaft seal installation (or oil seal)
model)
Approvals
Note:
*1 The rated torque is the continuous permissible torque between 0~40˚C operating temperature which is
suitable for the following heat sink dimension.
ECMA-_ _ 04 / 06 / 08:250mm x 250mm x 6mm
ECMA-_ _ 10:300mm x 300mm x 12mm
ECMA-_ _ 13:400mm x 400mm x 20mm
ECMA-_ _ 18:550mm x 550mm x 30mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2 The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or
as the dynamic brake.
*3 Please refer to Model Description for magnetic encoder motor.
April, 2013
11-7
ASDA-M
Chapter 11 Specifications
Medium/High inertia series (ECMA-E1)
E113
ECMA
Rated power (kW)
Rated torque (N-m)
*1
Max. torque (N-m)
E118
05
10
15
20
20
0.5
1.0
1.5
2.0
2.0
2.39
4.77
7.16
9.55
9.55
7.16
14.3
21.48
28.65
28.65
Rated speed (r/min)
2000
1000
Max. speed (r/min)
3000
2000
Rated current (A)
2.9
5.6
8.3
11.01
11.22
Max. instantaneous current (A)
8.7
16.8
24.9
33.03
33.66
Max. power per second (kW/s)
7.0
27.1
45.9
62.5
26.3
Rotor inertia (× 10-4kg.m )
8.17
8.41
11.18
14.59
34.68
Mechanical constant (ms)
1.91
1.51
1.10
0.96
1.62
Torque constant – KT(N-m/A)
0.83
0.85
0.87
0.87
0.85
Voltage constant – KE
(mV/(r/min))
30.9
31.9
31.8
31.8
31.4
Armature resistance (Ohm)
0.57
0.47
0.26
0.174
0.119
Armature inductance (mH)
7.39
5.99
4.01
2.76
2.84
Electric constant (ms)
12.96
12.88
15.31
15.86
23.87
2
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
>100M, DC 500V
Insulation strength
AC 1500V, 60 sec
Weight – without brake (kg)
6.8
7.0
7.5
7.8
13.5
Weight – with brake (kg)
8.2
8.4
8.9
9.2
17.5
Radial max. loading (N)
490
490
490
490
1176
Axial max. loading (N)
98
98
98
98
490
6.4
24.9
43.1
59.7
24.1
8.94
9.14
11.90
15.88
37.86
2.07
1.64
1.19
1.05
1.77
10.0
10.0
10.0
10.0
25.0
19.0
19.0
19.0
19.0
20.4
Brake release time [ms (Max)]
10
10
10
10
10
Brake pull-in time [ms (Max)]
70
70
70
70
70
Max. power per second (kW/s)
(with brake)
2
Rotor inertia (× 10-4kg.m )
(with brake)
Mechanical constant (ms)
(with brake)
Brake holding torque
[Nt-m (min)] *2
Brake power consumption
(at 20˚C) [W]
Vibration grade (μm)
15
Operating temperature (˚C)
0 ~ 40
11-8
April, 2013
Chapter 11 Specification
ECMA
ASDA-M
E113
05
10
E118
15
20
20
Storage temperature (˚C)
-10 ~ 80
Operating humidity
20 ~ 90%RH (non-condensing)
Storage humidity
20 ~ 90%RH (non-condensing)
Vibration capacity
2.5G
IP Rating
IP65 (use the waterproof connector and
shaft seal installation (or oil seal) model)
Approvals
Note:
*1 The rated torque is the continuous permissible torque between 0~40˚C operating temperature which is
suitable for the following heat sink dimension.
ECMA-_ _ 04 / 06 / 08:250mm x 250mm x 6mm
ECMA-_ _ 10:300mm x 300mm x 12mm
ECMA-_ _ 13:400mm x 400mm x 20mm
ECMA-_ _ 18:550mm x 550mm x 30mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2 The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or
as the dynamic brake.
April, 2013
11-9
ASDA-M
Chapter 11 Specifications
Medium/High inertia series (ECMA-E2)
E213
ECMA
Rated power (kW)
Rated torque (N-m)
*1
Max. torque (N-m)
E218
05
10
15
20
20
0.5
1.0
1.5
2.0
2.0
2.39
4.77
7.16
9.55
9.55
7.16
14.32 21.48 28.65 28.65
Rated speed (r/min)
2000
Max. speed (r/min)
3000
2.9
5.6
8.3
8.7
16.8
24.81
33.0
33.66
7.0
27.1
45.9
62.5
26.3
Rotor inertia (× 10-4kg.m )
8.17
8.41
11.18 14.59 34.68
Mechanical constant (ms)
1.91
1.51
1.11
0.96
1.62
0.83
0.85
0.87
0.87
0.85
30.9
31.9
31.8
31.8
31.4
Armature resistance (Ohm) 0.57
0.47
0.26
0.174 0.119
7.39
5.99
4.01
2.76
Rated current (A)
Max. instantaneous current
(A)
Max. power per second
(kW/s)
2
Torque constant –
KT(N-m/A)
Voltage constant – KE
(mV/(r/min))
Armature inductance (mH)
11.01 11.22
2.84
Electric constant (ms)
12.96 12.88 15.31 15.86 23.87
Insulation class
Class A (UL), Class B (CE)
Insulation resistance
>100M, DC 500V
Insulation strength
AC 1500V, 60 sec
Weight – without brake (kg)
6.8
7.0
7.5
7.8
13.5
Weight – with brake (kg)
8.2
8.4
8.9
9.2
17.5
Radial max. loading (N)
490
490
490
490
1176
Axial max. loading (N)
98
98
98
98
490
6.4
24.9
43.1
59.7
24.1
8.94
9.14
11.90 15.88 37.86
2.07
1.64
1.19
1.05
1.77
10.0
10.0
10.0
10.0
25.0
Max. power per second
(kW/s) (with brake)
2
Rotor inertia (× 10-4kg.m )
(with brake)
Mechanical constant (ms)
(with brake)
Brake holding torque
[Nt-m (min)] *2
11-10
April, 2013
Chapter 11 Specification
ECMA
Brake power consumption
(at 20˚C) [W]
Brake release time [ms
(Max)]
Brake pull-in time
[ms (Max)]
ASDA-M
E213
E218
05
10
15
20
20
19.0
19.0
19.0
19.0
20.4
10
10
10
10
10
70
70
70
70
70
Vibration grade (μm)
15
Operating temperature (˚C)
0 ~ 40
Storage temperature (˚C)
-10 ~ 80
Operating humidity
20 ~ 90%RH (non-condensing)
Storage humidity
20 ~ 90%RH (non-condensing)
Vibration capacity
2.5G
IP65 (use the waterproof connector
IP Rating
and shaft seal installation (or oil
seal) model)
Approvals
Note:
*1 The rated torque is the continuous permissible torque between 0~40˚C operating temperature which is
suitable for the following heat sink dimension.
ECMA-_ _ 04 / 06 / 08:250mm x 250mm x 6mm
ECMA-_ _ 10:300mm x 300mm x 12mm
ECMA-_ _ 13:400mm x 400mm x 20mm
ECMA-_ _ 18:550mm x 550mm x 30mm
Material: Aluminum – F40, F60, F80, F100, F130, F180
*2 The built-in brake of the servo motor is for remaining the item in stop status. Do not use it to decelerate or
as the dynamic brake.
*3 Please refer to Model Description for magnetic encoder motor.
April, 2013
11-11
ASDA-M
Chapter 11 Specifications
11.3 Torque Features (T-N curve)
Torque(N-m)
1.92
(300%)
Acceleration/
Deceleration
area
0.64
(100%)
0.38
(60%)
Continuous
area
Speed(r/min)
3000
5000
ECMA-C10602□S
Torque (N-m)
21.5
(300%)
Acceleration
/Deceleration
area
7.16
(100%)
4.8
(67%)
Continuous
area
Speed (r/min)
2000
3000
ECMA-E11315□S
11-12
April, 2013
Chapter 11 Specification
April, 2013
ASDA-M
11-13
ASDA-M
Chapter 11 Specifications
11.4 Overload Features
The definition of overload protection
The overload protection is to prevent the motor in overheat status.
The cause of overload
1)
2)
3)
4)
5)
When the motor operates over the rated torque, the operation time is too long
The inertia ratio is set too big and frequently accelerate / decelerate
Connection error between the power cable and encoder wiring
Servo gain setting error and cause resonance of the motor
The motor with brake operates without releasing the brake
The Graph of Load and Operating Time
Low inertia (ECMA C1, C2 Series)
11-14
April, 2013
Chapter 11 Specification
Medium and Medium-high inertia (ECMA
ASDA-M
E1, E2 Series)
High inertia (ECMA G1 Series)
April, 2013
11-15
ASDA-M
Chapter 11 Specifications
11.5 Dimensions of the Servo Drive
ASD-M-0721 (750W)
155(6.1)
140(5.51)
185(7.28)
190(7.48)
201.32(7.93)
Ø5.5(0.217)
Ø5.5(0.217)
Screw: M4×0.7
Tightening torque: 14(kgf-cm)
Weight
NOTE
3.5 (7.7)
1)
2)
11-16
Dimensions are in millimeters (inches); Weights are in kilograms
(pounds).
Dimensions and weights might be revised without prior notice.
April, 2013
Chapter 11 Specification
ASDA-M
ASD-M-1521 (1.5kW)
ASD-M-2023 (2kW)
155(6.1)
140(5.51)
205(8.07)
219(8.62)
209.5(8.25)
Ø5.5(0.217)
Ø5.5(0.217)
Screw: M4×0.7
Tightening torque: 14(kgf-cm)
Weight
NOTE
4.5 (9.9)
1)
2)
April, 2013
Dimensions are in millimeters (inches); Weights are in kilograms
(pounds).
Dimensions and weights might be revised without prior notice.
11-17
ASDA-M
Chapter 11 Specifications
11.6 Dimensions of the Servo Motor
Motor Frame Size: 86 or below (Units: mm)
C10401□S
C10602□S
C10604□S
C10804□S
C10807□S
C10907□S
C10910□S
C20401□S
C20602□S
C20604□S
C20804□S
C20807□S
C20907□S
C20910□S
LC
40
60
60
80
80
86
86
LZ
4.5
5.5
5.5
6.6
6.6
6.6
6.6
100
Model
LA
46
70
70
90
90
100
S
8( 00.009
14( 00.011
14( 00.011
14( 00.011
19( 00.013
16( 00.011
)
16( 00.011)
LB
30( 00.021)
50( 00.025 )
50( 00.025 )
70( 00.030 )
70( 00.030 )
80( 00.030 )
80( 00.030 )
LL (without brake)
100.6
105.5
130.7
112.3
138.3
130.2
153.2
LL (with brake)
136.6
141.6
166.8
152.8
178
161.3
184.3
LS
(without oil seal)
20
27
27
27
32
30
30
LS (with oil seal)
20
24
24
24.5
29.5
30
30
LR
25
30
30
30
35
35
35
LE
2.5
3
3
3
3
3
3
)
)
)
)
LG
5
7.5
7.5
8
8
8
8
LW
16
20
20
20
25
20
20
RH
6.2
11
11
11
15.5
13
13
WK
3
5
5
5
6
5
5
W
3
5
5
5
6
5
5
T
3
M3
Depth 8
5
M4
Depth 15
5
M4
Depth 15
5
M4
Depth 15
6
M6
Depth 20
5
M5
Depth 15
5
M5
Depth 15
TP
NOTE
11-18
)
1)
Dimensions are in millimeters.
2)
Dimensions and weights might be revised without prior notice.
3)
Box, (□) represents the shaft end/ brake or the number of oil seal.
April, 2013
Chapter 11 Specification
ASDA-M
Motor Frame Size: 100 ~ 130 (Units: mm)
Model
G11303□S
LC
LZ
LA
130
9
145
E11305□S
E21305□S
130
9
145
S
22(00.013 )
LB
LL (without brake)
LL (with brake)
LS
LR
LE
LG
LW
RH
WK
W
T
TP
NOTE
April, 2013
G11306□S
G11309□S
130
9
145
130
9
145
C11010□S
C21010□S
100
9
115
22(00.013 )
22(00.013 )
22(00.013 )
22(00.013 )
110 (00.035 )
110 (00.035 )
110 (00.035 )
110 (00.035 )
95 (00.035 )
147.5
183.5
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
147.5
183.5
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
147.5
183.5
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
163.5
198
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
153.3
192.5
37
45
5
12
32
18
8
8
7
M6
Depth 20
1)
Dimensions are in millimeters.
2)
Dimensions and weights might be revised without prior notice.
3)
Box, (□) represents the shaft end/ brake or the number of oil seal.
11-19
ASDA-M
Chapter 11 Specifications
Motor Frame Size: 100 ~ 130 (Units: mm)
LC
LZ
LA
E11310□S
E21310□S
130
9
145
E11315□S
E21315□S
130
9
145
C11020□S
C21020□S
100
9
115
E11320□S
E21320□S
130
9
145
S
22(00.013 )
22(00.013 )
22(00.013 )
22(00.013 )
LB
110 (00.035 )
110 (00.035 )
95 (00.035 )
110 (00.035 )
LL (without brake)
LL (with brake)
LS
LR
LE
LG
LW
RH
WK
W
T
147.5
183.5
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
167.5
202
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
199
226
37
45
5
12
32
18
8
8
7
M6
Depth 20
187.5
216
47
55
6
11.5
36
18
8
8
7
M6
Depth 20
Model
TP
NOTE
11-20
1)
Dimensions are in millimeters.
2)
Dimensions and weights might be revised without prior notice.
3)
Box, (□) represents the shaft end/ brake or the number of oil seal.
April, 2013
Chapter 11 Specification
ASDA-M
Motor Frame Size: 180 or above (Units: mm)
LC
LZ
LA
E11820□S
E21820□S
180
13.5
200
S
35 (00.016 )
LB
114 .3(00.035 )
LL (without brake)
LL (with brake)
LS
LR
LE
LG
LW
RH
WK
W
T
169
203.1
73
79
4
20
63
30
10
10
8
M12
Depth 25
Model
TP
NOTE
April, 2013
1)
Dimensions are in millimeters.
2)
Dimensions and weights might be revised without prior notice.
3)
Box, (□) represents the shaft end/ brake or the number of oil seal.
11-21
ASDA-M
Chapter 11 Specifications
(This page is intentionally left blank.)
11-22
April, 2013
Appendix A Accessories
ASDA-M
Appendix A Accessories
 Power Connector
Delta Part Number: ASDBCAPW0000
Title
Part No.
Manufacturer
Housing
C4201H00-2*2PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Delta Part Number: ASDBCAPW0100
Title
Part No.
Manufacturer
Housing
C4201H00-2*3PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Delta Part Number: ASD-CAPW1000
Delta Part Number: ASD-CAPW2000
April, 2013
A-1
ASDA-M
Appendix A Accessories
 Power Cable
Delta Part Number: ASD-ABPW0003, ASD-ABPW0005
Title
Part No.
Manufacturer
Housing
39-01-2041
JOWLE
Terminal
39-00-0040
JOWLE
Title
Part No.
1
2
L
ASD-ABPW0003
mm
3000  100
inch
118  4
ASD-ABPW0005
5000  100
197  4
Delta Part Number: ASD-ABPW0103, ASD-ABPW0105
A-2
Title
Part No.
Manufacturer
Housing
C4201H00-2*3PA
JOWLE
Terminal
C4201TOP-2
JOWLE
Title
Part No.
1
2
L
ASD-ABPW0103
mm
3000  100
inch
118  4
ASD-ABPW0105
5000  100
197  4
April, 2013
Appendix A Accessories
ASDA-M
Delta Part Number: ASD-CAPW1003, ASD-CAPW1005
(50mm)
(1.97 inch)
(80 mm)
L
(3.15 inch)
Title
Part No.
Straight
1
ASD-CAPW1003
2
ASD-CAPW1005
L
3106A-20-18S
mm
3000  100
inch
118  4
3106A-20-18S
5000  100
197  4
Delta Part Number: ASD-CAPW1103, ASD-CAPW1105
(50mm)
(1.97 inch)
(80 mm)
L
(3.15 inch)
April, 2013
Title
Part No.
Straight
1
ASD-CAPW1103
2
ASD-CAPW1105
L
3106A-20-18S
mm
3000  100
inch
118  4
3106A-20-18S
5000  100
197  4
A-3
ASDA-M
Appendix A Accessories
Delta Part Number: ASD-A2PW1003, ASD-A2PW1005
(50mm)
(1.97 inch)
(80 mm)
L
(3.15 inch)
Title
Part No.
Straight
1
ASD-A2PW1003
2
ASD-A2PW1005
L
3106A-20-18S
mm
3000  100
inch
118  4
3106A-20-18S
5000  100
197  4
Delta Part Number: ASD-A2PW1103, ASD-A2PW1105
(50mm)
(1.97 inch)
(80 mm)
L
(3.15 inch)
A-4
Title
Part No.
Straight
1
ASD-A2PW1103
2
ASD-A2PW1105
L
3106A-20-18S
mm
3000  100
inch
118  4
3106A-20-18S
5000  100
197  4
April, 2013
Appendix A Accessories
ASDA-M
Delta Part Number: ASD-CAPW2003, ASD-CAPW2005
Title
Part No.
Straight
1
ASD-CAPW2003
2
ASD-CAPW2005
L
3106A-24-11S
mm
3000  100
inch
118  4
3106A-24-11S
5000  100
197  4
Delta Part Number: ASD-CAPW2103, ASD-CAPW2105
April, 2013
Title
Part No.
Straight
1
ASD-CAPW2103
2
ASD-CAPW2105
L
3106A-24-11S
mm
3000  100
inch
118  4
3106A-24-11S
5000 100
197  4
A-5
ASDA-M
Appendix A Accessories
 Encoder Connector
Delta Part Number: ASD-ABEN0000
Title
Part No.
Manufacturer
Housing
AMP (1-172161-9)
AMP
Terminal
AMP (170359-3)
AMP
CLAMP
DELTA (34703237XX)
DELTA
PLUG
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
Title
Part No.
Manufacturer
MOTOR SIDE
3106A-20-29S
-
PLUG
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
MOTOR SIDE
DRIVE SIDE
Delta Part Number: ASD-CAEN1000
DRIVE SIDE
A-6
April, 2013
Appendix A Accessories
ASDA-M
 Encoder Cable
Delta Part Number: ASD-ABEN0003, ASD-ABEN0005
Title
MOTOR SIDE
DRIVE SIDE
Part No.
Manufacturer
Housing
AMP (1-172161-9)
AMP
Terminal
AMP (170359-3)
AMP
CLAMP
DELTA (34703237XX)
DELTA
PLUG
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
Title
Part No.
1
2
L
ASD-ABEN0003
mm
3000  100
inch
118 4
ASD-ABEN0005
5000  100
197  4
Delta Part Number: ASD-CAEN1003, ASD-CAEN1005
Title
Part No.
Manufacturer
MOTOR SIDE
3106A-20-29S
-
PLUG
3M 10120-3000PE
3M
SHELL
3M 10320-52A0-008
3M
DRIVE
SIDE
April, 2013
Title
Part No.
Straight
1
ASD-CAEN1003
2
ASD-CAEN1005
L
3106A-20-29S
mm
3000  100
inch
118  4
3106A-20-29S
5000  100
197  4
A-7
ASDA-M
Appendix A Accessories
 I/O Connector
Delta Part Number: ASD-CNSC0050
Vendor Name
Vendor P/N
3M TAIWAN LTD
10150-3000PE
3M TAIWAN LTD
10350-52A0-008
 Terminal Block Module
Delta Part Number: ASD-BM-50A
 RS-232 Communication Cable
Delta Part Number: ASD-CARS0003
A-8
Title
Part No.
1
ASD-CARS0003
L
mm
3000  100
inch
118 4
April, 2013
Appendix A Accessories
ASDA-M
 Software Communication Cable
Delta Part Number: DOP-CAUSBAB
Title
Part No.
1
DOP-CAUSBAB
L
mm
1400  30
inch
55 1.2
 CANopen Communication Connector
Delta Part Number: TAP-CB03, TAP-CB04
Title
Part No.
1
2
L
TAP-CB03
mm
500  10
inch
19  0.4
TAP-CB04
1000 10
39  0.4
 CANopen Distribution Box
Delta Part Number: TAP-CN03
April, 2013
A-9
ASDA-M
Appendix A Accessories
 RS-485 Connector
Delta Part Number: ASD-CNIE0B06
A-10
April, 2013
Appendix A Accessories
ASDA-M
 Optional Accessories
750W servo drive and 100W low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-0721-
ECMA-C△0401S
Motor Power Cable
(without brake)
ASD-ABPW000X
Power Connector
(without brake)
ASDBCAPW0000
Motor Power Cable
(with brake)
ASD-ABPW010X
Power Connector
(with brake)
ASDBCAPW0100
Incremental Type
Encoder Connector
ASD-ABEN000X
Absolute Type Encoder
Connector
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W servo drive and 200W low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-0721-
ECMA-C△0602S
Motor Power Cable
(without brake)
ASD-ABPW000X
Power Connector
(without brake)
ASDBCAPW0000
Motor Power Cable
(with brake)
ASD-ABPW010X
Power Connector
(with brake)
ASDBCAPW0100
Incremental Type
Encoder Connector
ASD-ABEN000X
Absolute Type Encoder
Connector
Encoder Connector
ASD-A2EB000X
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
April, 2013
A-11
ASDA-M
Appendix A Accessories
750W servo drive and 400W low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-0721-
ECMA-C△0604S
ECMA-C△08047
Motor Power Cable
(without brake)
ASD-ABPW000X
Power Connector
(without brake)
ASDBCAPW0000
Motor Power Cable
(with brake)
ASD-ABPW010X
Power Connector
(with brake)
ASDBCAPW0100
Incremental Type
Encoder Connector
ASD-ABEN000X
Absolute Type Encoder
Connector
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W servo drive and 500W medium-inertia motor
Servo Drive
Medium-inertia Motor
ASD-M-0721-
ECMA-E△1305S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
Encoder Connector
ASD-A2EB100X
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
A-12
April, 2013
Appendix A Accessories
ASDA-M
750W servo drive and 300W high-inertia motor
Servo Drive
High-inertia Motor
ASD-M-0721-
ECMA-G△1303S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
750W servo drive and 750W low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-0721-
ECMA-C△0807S
ECMA-C△0907S
Motor Power Cable
(without brake)
ASD-ABPW000X
Power Connector
(without brake)
ASDBCAPW0000
Motor Power Cable
(with brake)
ASD-ABPW010X
Power Connector
(with brake)
ASDBCAPW0100
Incremental Type
Encoder Connector
ASD-ABEN000X
Absolute Type Encoder
Connector
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
April, 2013
A-13
ASDA-M
Appendix A Accessories
750W servo drive and 600W high-inertia motor
Servo Drive
High-inertia Motor
ASD-M-0721-
ECMA-G△1306S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5 kW servo drive and 1kW low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-1521-
ECMA-C△1010S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
A-14
April, 2013
Appendix A Accessories
ASDA-M
1.5kW servo drive and 1kW low-inertia motor
Servo Drive
Low-inertia Motor
ASD-M-1521-
ECMA-C△0910S
Motor Power Cable
(without brake)
ASD-ABPW000X
Power Connector
(without brake)
ASDBCAPW0000
Motor Power Cable
(with brake)
ASD-ABPW010X
Power Connector
(with brake)
ASDBCAPW0100
Incremental Type
Encoder Connector
ASD-ABEN000X
Absolute Type Encoder
Connector
ASD-A2EB000X
Encoder Connector
ASD-ABEN0000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW servo drive and 1kW medium-inertia motor
Servo Drive
Medium-inertia Motor
ASD-M-1521-
ECMA-E△1310S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
April, 2013
A-15
ASDA-M
Appendix A Accessories
1.5kW servo drive and 900W high-inertia motor
Servo Drive
High-inertia Motor
ASD-M-1521-
ECMA-G△1309S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
1.5kW servo drive and 1.5kW medium-inertia motor
Servo Drive
Medium-inertia Motor
ASD-M-1521-
ECMA-E△1315S
Motor Power Cable
(without brake)
ASD-CAPW100X
Motor Power Cable
(with brake)
ASD-CAPW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
2kW servo drive and 2kW low-inertia motor
Servo Drive
Low-inertia Motor
Motor Power Cable
(without brake)
A-16
ASD-M-2023-
ECMA-C△1020S
ASD-A2PW100X
April, 2013
Appendix A Accessories
ASDA-M
Motor Power Cable
(with brake)
ASD-A2PW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
2kW servo drive and 2kW medium-inertia motor
Servo Drive
Medium-inertia Motor
ASD-M-2023-
ECMA-E△1320S
Motor Power Cable
(without brake)
ASD-A2PW100X
Motor Power Cable
(with brake)
ASD-A2PW110X
Power Connector
ASD-CAPW1000
Incremental Type
Encoder Connector
ASD-CAEN100X
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
2kW servo drive and 2kW medium-inertia motor
Servo Drive
Medium-inertia Motor
ASD-M-2023-
ECMA-E△1820S
Motor Power Cable
(without brake)
ASD-CAPW200X
Motor Power Cable
(with brake)
ASD-CAPW210X
Power Connector
ASD-CAPW2000
Incremental Type
Encoder Connector
ASD-CAEN100X
April, 2013
A-17
ASDA-M
Appendix A Accessories
Absolute Type Encoder
Connector
ASD-A2EB100X
Encoder Connector
ASD-CAEN1000
(X=3 indicates that the cable length is 3m; X=5 indicates that the cable length is 5m)
NOTE 1)
2)
Box, () at the end of the servo drive model names represents the
product code of ASDA-M. Please refer to the actual situation of
purchasing.
Box, () in the model name of the servo motor represents brake or
keyway / oil seal.
Other Accessories (suitable for the whole series of ASDA-M)
Name
Product Number
50Pin I/O Connector (CN1)
ASD-CNSC0050
Terminal Block Module
ASD-BM-50A
RS-232 Communication Cable
ASD-CARS0003
Software Communication Cable
DOP-CAUSBAB
CANopen Communication Connector
TAP-CB03 / TAP-CB04
CANopen Distribution Box
TAP-CN03
RS-485 Connector
ASD-CNIE0B06
Regenerative Resistor 400W 40Ω
BR400W040
Regenerative Resistor 1kW 20Ω
BR1K0W020
Regenerative Resistor 3kW 10Ω
BR1K5W005
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April, 2013
Appendix B Maintenance and Inspection
Appendix B
ASDA-M
Maintenance and
Inspection
■Basic Inspection
Item
Content
Periodically check if the screws of the servo drive, the connection
between the motor shaft and the mechanical system as well as
the connection of terminal block and mechanical system are
securely tightened.
The gap of the control chamber and the installation of the cooling
fan should free from oil, water or metallic particles. Also, shall the
General inspection
servo drive free from the cutting power of the power drill.
If the control chamber is installed in the site which contains
harmful gas or full of dust, please be ensure the servo drive is free
from the harmful gas and dust.
When making encoder cable or wire rods, please be ensure the
wiring is correct. Otherwise, the motor may have sudden
unintended acceleration or be burned.
To avoid the electric shock, the ground terminal of the servo drive
should firmly connect to the ground terminal of the control
chamber. If the wiring is needed, wait at least 10 minutes after
disconnecting the drive from the main supply power, or discharge
electricity by discharge device. (Please wait until the power
Inspection before
operation
(has not applied to
the power yet)
indicator is off.)
The splicing parts of the wiring terminal should be isolated.
Make sure the wiring is correct so as to avoid the damage or any
abnormity.
Check if the electric conductivity objects including sheetmetal (such
as screws) or inflammable objects are not inside the servo drive.
Check if the control switch is in OFF status.
Do not place the servo drive of external regenerative resistor on
inflammable objects.
April, 2013
B-1
ASDA-M
Appendix B Maintenance and Inspection
To avoid the electromagnetic brake losing efficacy, please check if
stop function and circuit break function can work normally.
If the peripheral devices are interfered by the electronic
instruments, please reduce electromagnetic interference with
devices.
Please make sure the external voltage level of the servo drive is
correct.
The encoder cable should avoid excessive stress. When the
motor is running, please be ensured the cable is not frayed or
over extended.
Inspection before
running the servo
drive
(has already applied
to the power)
Please contact with Delta if there is any vibration of the servo
motor or unusual noise during the operation.
Make sure the setting of the parameters is correct. Different
machinery has different characteristic, please adjust the
parameter according to the characteristic of each machinery.
Please reset the parameter when the servo drive is in the status of
SERVO OFF, or it may cause malfunction.
When the relay is operating, make sure it can work properly.
Check if the power indicator and LED display works normally.
Maintenance

Please use and store the product in a proper site.

Periodically clean the surface of the servo drive and servo motor so as to avoid the
dust and dirt.

Do not disassemble any mechanical part when in maintenance.

Periodically clean the ventilation ports of the servo drive and do not use the product in
a high-temperature site for a long time so as to avoid the malfunction.
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April, 2013
Appendix B Maintenance and Inspection
ASDA-M
The lifetime of machinery parts

Dc Bus Capacitor
DC Bus Capacitor will be deteriorated by the affection of ripple current. Its lifetime is
determined by the surrounding temperature and operating conditions. If it is operating
in an air-conditioned site, its lifetime can up to 10 years.

Relay
The contact of switching power supply will wear and leads to poor contact. The lifetime
of relay is influenced by the power supply capacity; thus, the accumulative time of
switching power supply is about 100,000 times.

Cooling Fan
In continuous operation, the lifetime of the cooling fan is 2 to 3 years. However, if there
is any unusual noise or vibration during inspection, place a new one is a must.
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ASDA-M
Appendix B Maintenance and Inspection
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April, 2013
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