ASDA-A2 Chapter 7 Motion Control
7-2 Revision February, 2017
(code 0~26); however, it cannot display
all (about 150 in total)
7.2.1 Description of Monitoring Variables
Description of monitoring variables:
Item Descriptions
Variable
Code
Each monitoring variable has a code. Set the code via P0-02 so that the users
can monitor the variable.
Format
Every monitoring 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. Panel display: View through the panel directly
2. Mapping: Correspond the variables to the system parameters and view
the variables via parameters.
Panel
Display
1. Switch to the Monitor Mode by pressing the MODE Key and select the
desired monitoring variables via UP/DOWN Key.
2. 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.
Mapping
1. Mapping parameters that support monitoring variable are P0-09 ~ P0-13.
Please refer to Chapter 8.3 for parameter description.
2. Monitoring 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「VAR-1」, it means it is the
value of P0-09.
The descriptions of monitoring 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.
Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-3
Explanation of monitoring variables:
Code
Name of Variables /
Attribute
Descriptions
000
(00h)
Feedback position
(PUU) B
The current feedback position of the motor encoder. The
unit is PUU (user unit).
001
(01h)
Position command
(PUU) B
The current coordinate of position command. The unit is
PUU (user unit).
PT mode: it represents the pulse number the servo drive
received.
PR mode: the value of absolute coordinate from position
command
Equals to the pulse number sent by the controller.
002
(02h)
Position deviation
(PUU) B
The deviation between the position command and feedback
position. The unit is PUU (user unit).
003
(03h)
Feedback position
(pulse) B
Current feedback position of the motor encoder. The unit is
pulse (encoder unit).
004
(04h)
Position command
(pulse) B
The current coordinate of the position command. The unit is
pulse (encoder unit).
The command that had gone through E-gear.
005
(05h)
Position deviation
(pulse) B
The deviation between the position command and feedback
position. The unit is pulse (encoder unit).
006
(06h)
Pulse command
frequency B
Frequency of pulse command received by the servo drive.
The unit is Kpps.
It is suitable in PT/PR mode.
007
(07h)
Speed feedback
B D1 Dec
Current speed of the motor. The unit of rotary motor is 0.1
r/min.
The value is more stable since it has been though low-pass
filter.
008
(08h)
Speed command
(analog)
B D2 Dec
The speed command is issued by analog. The unit is 0.01
Volt.
009
(09h)
Speed command
(processed) B
The processed speed command. The source might be
analog, register or position loop.
010
(0Ah)
Torque command
(analog)
B D2 Dec
The torque command is issued by analog. The unit is 0.01
Volt.
011
(0Bh)
Torque command
(processed) B
The processed torque command. The unit is percentage
(%).
The source might be analog, register or speed loop.
012
(0Ch)
Average load B
Average load output by the servo drive. The unit is
percentage (%).
013
(0Dh)
Peak load B
The maximum load output by the servo drive. The unit is
percentage (%).
014
(0Eh)
DC Bus voltage B Capacitor voltage after rectification. The unit is Volt.
ASDA-A2 Chapter 7 Motion Control
7-4 Revision February, 2017
Code
Monitoring Variables /
Attribute
Explanation
015
(0Fh)
Inertia ratio
B D1 Dec
Ratio of load inertia and motor inertia. The unit is 0.1 times.
016
(10h)
IGBT temperature B IGBT temperature. Unit is °C.
017
(11h)
Resonance frequency
B Dec
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
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
P0-35.
020
(14h)
Mapping parameter
#2 B
Return the value of parameter P0-26 which is mapped by
P0-36.
021
(15h)
Mapping parameter
#3 B
Return the value of parameter P0-27 which is mapped by
P0-37.
022
(16h)
Mapping parameter ＃
4 B
Return the value of parameter P0-28 which is mapped by
P0-38.
023
(17h)
Mapping monitoring
variable ＃1 B
Return the value of parameter P0-09 which is the
monitoring variables mapped by P0-17.
024
(18h)
Mapping monitoring
variable ＃2 B
Return the value of parameter P0-20 which is the
monitoring variables mapped by P0-18.
025
(19h)
Mapping monitoring
variable ＃3 B
Return the value of parameter P0-11 which is the
monitoring variables mapped by P0-19
026
(1Ah)
Mapping monitoring
variable # 4 B
Return the value of parameter P0-12 which is the
monitoring variables mapped by P0-20.
028
(1Ch)
Alarm codes Alarm codes of DMCNET mode (It is applicable to A2-F,
A2-N, A2-M/U/L)
029
(1Dh)
Feedback of auxiliary
encoder (PUU)
The position feedback from auxiliary encoder (CN5)
(It is applicable to A2-F)
030
(1Eh)
Position error of
auxiliary encoder
(PUU)
Position deviation between position feedback (from CN5)
and command (It is applicable to A2-F)
031
(1Fh)
Position error or
main/auxiliary encoder
(PUU)
Feedback position deviation between main encoder and
auxiliary encoder (It is applicable to A2-F)
Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-5
Code
Name of Variables /
Attribute
Description
035
(23h)
Indexing coordinate
command
The current command of the indexing coordinates. The unit
is PUU (user unit).
037
(25h)
Compare data of
COMPARE
Display the compare data. This actual compare data is a
compare value plus an offset value via P1-23 and P1-24.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
038
(26h)
Voltage level of battery The voltage level of battery for an absolute encoder.
039
(27h)
DI status (Integrated)
Hex
The processed DI status of the servo drive. Each bit
corresponds to one DI channel.
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, data capturing
The Data captured by CAP hardware from the latest time
Note: CAP could continuously capture many points.
048
(30h)
Auxiliary encoder CNT The value of pulse counter from auxiliary encoder (CN5)
049
(31h)
Pulse command CNT The value of pulse counter from pulse command (CN1)
050
(32h)
Speed command
(processed)
D1 Dec
The processed speed command. The unit is 0.1 r/min.
The source might be analog, register or position loop.
051
(33h)
Speed feedback
(immediate)
D1 Dec
Current actual speed of the motor. The unit is 0.1 r/min.
052
(34h)
Speed feedback (filter)
D1 Dec
Current actual speed of the motor. The unit is 0.1 r/min.
053
(35h)
Torque command
(processed)
D1 Dec
The processed torque command. The unit is 0.1 percent
(%).
The source might be analog, register or speed loop.
054
(36h)
Torque feedback
D1 Dec
Current actual torque (force) of the motor. The unit is 0.1
percent (%).
055
(37h)
Electric current
feedback
D2 Dec
Current actual electric current of the motor. The unit is 0.01
ampere (Amp).
056
(38h)
DC Bus voltage
D1 Dec
Capacitor voltage after rectification. The unit is 0.1 volt.
059
(3Bh)
Pulse from E-Cam
master axis
(accumulation)
The accumulative pulse number of E-Cam master axis. It is
the same as P5-86. A2L does not support this function.
ASDA-A2 Chapter 7 Motion Control
7-6 Revision February, 2017
Code
Monitoring Variables /
Attribute
Explanation
060
(3Ch)
Pulse from E-Cam
master axis
(increment)
The incremental pulse number from master axis. The unit is
pulse number per msec. A2L does not support this function.
061
(3Dh)
Pulse from E-Cam
mast axis
(lead pulse)
The lead pulse of E-Cam master axis which is used to
judge the engaging condition.
When it is disengaged: lead pulse = P5-87 or P5-92.
When it is engaged: lead pulse = P5-89. When the value is
0, it will be disengaged.
A2L does not support this function.
062
(3Eh)
The position of E-Cam
axis
The position of E-Cam 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).
A2L does not support this function.
063
(3Fh)
Position of E-Cam
slave axis
The position of E-Cam slave axis. Unit: PUU
A2L does not support this function.
064
(40h)
Terminal register of PR
command
In PR mode, the termination of position command (Cmd_E)
065
(41h)
Output register of PR
command
In PR mode, the accumulative output of position command
067
(43h)
PR target speed The target speed of path command in PR mode. The unit is
PPS (Pulse Per Second)
068
(44h)
S-curve filter (input) The input commands of S-curve filter which is used to
smooth the input command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
069
(45h)
S-curve filter (output) The output commands of S-curve filter which is used to
smooth the output command.
It is effective in PR mode, E-Cam and speed command.
A2L does not support this function.
072
(48h)
Speed command
(analog)
B D1 Dec
The speed command is issued via analog. The unit is 0.1
r/min.
This function is supported by A2-M/U/L.
076
(4Ch)
Speed command of PR
contour
In PR mode, the programmed trapezoid speed curve is
determined by the target speed, acceleration, deceleration
and moving distance (before S-curve filter).
The unit is PPS (Pulse Per Second).
081
(51h)
Synchronous capture
axis
Incremental input pulse
When synchronous capture axis is enabled, the received
pulse number between two captures can be used to
measure the real distance of Mark.
082
(52h)
PR number that is
currently executed
To inform HMC the PR number that is being executed (It is
applicable to A2-F)
084
(54h)
Synchronous capture
axis
Deviation pulse
number
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.
Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-7
Code
Name of Variables /
Attribute
Description
091
(5Bh)
The feedback of
indexing coordinate
The immediate feedback position of indexing coordinates.
The unit is PUU (user unit).
096
(60h)
Firmware version
Dec
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)
PLC scan time The update time of DI/DO. The unit is 0.5 msec.
109
(6Dh)
The amount of data
array
Returns the amount of data array. The unit is DWORD (32
Bits)
111
(6Fh)
Error code of the servo
drive
Error code of the servo drive: only for the control loop, not
including the motion controller.
112
(70h)
CANopen SYNC TS
(hasn’t been through
the filter)
The time the servo drive receives SYNC signal
(TimeStamp)
The unit is usec.
113
(71h)
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.
114
(72h)
CANopen
timing synchronization
To synchronize the device timing with the controller during
the operation. The unit is usec.
116
(74h)
The differential
between position and
Z phase of auxiliary
encoder (pulse)
The differential between the current position and Z phase
position of auxiliary encoder
(It is applicable to A2-F)
120
(78h)
DMCNET connection
status
DMCNET connection status (It is applicable to A2-F, A2-N)
121
(79h)
The PDO packet of
DMCNET is lost
during transmission
Accumulative number of the lost DMCNET PDO packet (It
is applicable to A2-F, A2-N)
Format: chAchB | chB | chA
For example, 459010 = 0x070102 chAchB
error
= 7,
chB
error
= 1, chA
error
= 2
123
(7Bh)
The returned value
when monitoring via
panel
The returned value when monitoring via panel
