Chapter 8 Parameters ASDA-A2
8-40 Revision February, 2017
P1-xx Basic Parameters
P1-00▲
PTT The Type of External Pulse Input
Address: 0100H
0101H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.1
Default：
0x2
Control
Mode：
PT
Unit：
-
Range：
0 ~ 0x1132
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Pulse Type
0: AB phase pulse (4x)
1: Clockwise (CW) and Counterclockwise (CCW) pulse
2: Pulse + symbol
Other setting: reserved
Filter Width
If the received frequency is much higher than the setting, it will be
regarded as the noise and filtered out.
Setting
Value
Min. pulse width*note1
(Low-speed filter
frequency)
Setting
Value
Min. pulse width*note1
(High-speed filter
frequency)
0 600ns (0.83Mpps) 0 150ns (3.33Mpps)
1 2.4us (208Kpps) 1 600ns (0.83Mpps)
2 4.8us (104Kpps) 2 1.2us (416Kpps)
3 9.6us (52Kpps) 3 2.4us (208Kpps)
4 No filter function 4 No filter function
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-41
Note: 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 2~4 MHz input pulse, it is suggested to set the filter value to 4.
Please note that the applicable version is: DSP version 1.036 sub05 and CPLD
version above 10.
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.
Logic Type
High-speed and Low-speed pulse input
Logic
Pulse
Type
Forward Reverse
0
Positive Logic
A Pulse Phase Lead A Pulse Phase Lag
AB phase
pulse
CW and
CCW
pulse
Chapter 8 Parameters ASDA-A2
8-42 Revision February, 2017
High-speed pulse input
Logic
Pulse
Type
Forward Reverse
0
Positive Logic
Pulse +
Symbol
Sign = high Sign = low
Low-speed pulse input
Logic
Pulse
Type
Forward Reverse
0
Positive
Lo
g
ic
Pulse +
Symbol
Sign = low Sign = high
For digital circuit, it uses 0 and 1 represents two status, which is high voltage and low
voltage. In Positive Logic, 1 represents high voltage and 0 represents low voltage
and vice versa in Negative Logic.
For example:
Positive Logic
Negative Logic
Pulse
Specification
Max. Input
Frequency
Minimum time width
T1 T2 T3 T4 T5 T6
High-speed
pulse
Differential
Signal
4Mpps 62.5ns 125ns 250ns 200ns 125ns 125ns
Low-speed
pulse
Differential
Signal
500Kpps 0.5μs 1μs 2μs 2μs 1μs 1μs
Open-
collector
200Kpps 1.25μs 2.5μs 5μs 5μs 2.5μs 2.5μs
Pulse Specification
Max. Input
Frequency
Voltage
Specification
Forward Current
High-speed
pulse
Differential
Signal
4Mpps 5V < 25mA
Low-speed
pulse
Differential
Signal
500Kpps 2.8V ~ 3.7V < 25mA
Open-collector 200Kpps 24V (Max.) < 25mA
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-43
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
Address：0102H
0103H
Operational
Interface：
Panel / Software Communication
Related Section:
Section 6.1
Table 8.1
Default：
0
Control
Mode：
ALL
Unit：
P (pulse); S (r/min, m/s); T (N-M)
Range：
00 ~ 0x110F
Data Size：
16-bit
Format：
Hexadecimal
Chapter 8 Parameters ASDA-A2
8-44 Revision February, 2017
Settings：
Control Mode Settings
Mode PT PR S T Sz Tz
Single Mode
00 ▲
01 ▲
02 ▲
03 ▲
04 ▲
05 ▲
Dual Mode
06 ▲ ▲
07 ▲ ▲
08 ▲ ▲
09 ▲ ▲
0A ▲ ▲
0B CANopen Mode (work with
Delta’s PLC)
DMCNET Mode
0C
CANopen Mode
EtherCAT Mode
0D ▲ ▲
Multiple Mode
0E ▲ ▲ ▲
0F ▲ ▲ ▲ 0F
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: 12), the mode can be switched via DI. S-P, PT-PR
(Please refer to table 8.1).
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-45
Torque Output Direction Settings
0 1
Forward
Reverse
Digital Input / Digital Output (DIO) Setting
0: When switching mode, DIO (P2-10 ~ P2-22) remains the
original setting value and will not be changed.
1: When switching mode, DIO (P2-10 ~ P2-22) can be reset to the
default value of each operational mode automatically.
P1-02▲
PSTL Speed and Torque Limit Setting
Address: 0104H
0105H
Operational
Interface：
Panel / Software Communication
Related Section:
Section 6.6
Table 8.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
00 ~ 0x11
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Disable / enable speed limit function
0: Disable speed limit function
1: Enable speed limit function (it is effective in T / Tz mode only)
Other: Reserved
Block diagram of speed limit setting:
Disable / enable speed limit function
Not in use
Disable / enable torque limit function
Chapter 8 Parameters ASDA-A2
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P1-09(1)
P1-10(2)
P1-11(3)
Vref
SPD0
SPD1
(0)
Speed Limit
Command
Disable / enable torque limit function
0: Disable torque limit function
1: Enable torque limit function (it is effective in P / S / Sz mode)
Other: Reserved
Block diagram of torque limit setting:
P1-12(1)
P1-13(2)
P1-14(3)
Tref
TCM0
TCM1
(0)
Torque Limit
Command
When desiring to use torque limit function, users could use
parameter to set this value to 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.
P1-03 AOUT Polarity Setting of Encoder Pulse Output
Address: 0106H
0107H
Operational
Interface：
Panel / Software Communication
Related Section:
3.3.3
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x13
Data Size：
16-bit
Format：
Hexadecimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-47
Settings：
Polarity of monitor analog output
Polarity of encoder pulse output
Not in use
Polarity of monitor analog output
0: MON1(+), MON2(+) 2: MON1(-), MON2(+)
1: MON1(+), MON2(-) 3: MON1(-), MON2(-)
Polarity of encoder pulse output
0: Forward output 1: Reverse output
P1-04 MON1 MON1 Analog Monitor Output Proportion
Address: 0108H
0109H
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.4
Default：
100
Control
Mode：
ALL
Unit：
% (full scale)
Range：
0 ~ 100
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to parameter P0-03 for the setting of analog output
selection.
For example:
P0-03 = 0x00 (MON1 is the speed analog output)
When the output voltage value of MON1 is V1:
Motor speed = (Max. speed × V1/8) × P1-04/100
P1-05 MON2 MON2 Analog Monitor Output Proportion
Address: 0108H
0109H
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.4
Default：
100
Control
Mode：
ALL
Chapter 8 Parameters ASDA-A2
8-48 Revision February, 2017
Unit：
% (full scale)
Range：
0 ~ 100
Data Size：
16-bit
Format：
Decimal
Settings：
Please refer to parameter P0-03 for the setting of analog output
selection.
For example: P0-03 = 0x00 (MON2 is the speed analog output)
When the output voltage value of MON2 is V2: Motor speed = (Max. ×
V2/8) × P1-05/100
P1-06 SFLT Analog Speed Command (Low-pass Filter)
Address: 010CH
010DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.3
Default：
0
Control
Mode：
S
Unit：
ms
Range：
0 ~ 1000 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
Settings：
0: Disabled
P1-07 TFLT Analog Torque Command (Low-pass Filter)
Address: 010EH
010FH
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.3
Default：
0
Control
Mode：
T
Unit：
ms
Range：
0 ~ 1000 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
Settings：
0: Disabled
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-49
P1-08 PFLT
Smooth Constant of Position Command (Low-
pass Filter)
Address: 0110H
0111H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.6
Default：
0
Control
Mode：
PT／PR
Unit：
10 ms
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Example：
11 = 110 ms
Settings：
0: Disabled
P1-09 SP1
Internal Speed Command 1／Internal Speed
Limit 1
Address: 0112H
0113H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.1
Default：
1000
Control
Mode：
S／T
Unit：
0.1rpm
Range：
-60000 ~ +60000
Data Size：
32-bit
Format：
Decimal
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.
Chapter 8 Parameters ASDA-A2
8-50 Revision February, 2017
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
Allowable
Speed Range
Forward Speed
Limit
Reverse Speed
Limit
1000
-100 ~ 100
r/min
100 r/min -100 r/min
-1000
P1-10 SP2
Internal Speed Command 2／Internal Speed
Limit 2
Address: 0114H
0115H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.1
Default：
2000
Control
Mode：
S／T
Unit：
0.1rpm
Range：
-60000 ~ +60000
Data Size：
32-bit
Format：
Decimal
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 2
nd
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
Forward Speed
Limit
Reverse
Speed Limit
1000
-100 ~ 100 r/min 100 r/min -100 r/min
-1000
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-51
P1-11 SP3
Internal Speed Command 3／Internal Speed
Limit 3
Address: 0116H
0117H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.1
Default：
3000
Control
Mode：
S／T
Unit：
0.1rpm
Range：
-60000 ~ +60000
Data Size：
32-bit
Format：
Decimal
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 of P1-11
Allowable Speed
Range
Forward Speed
Limit
Reverse
Speed Limit
1000
-100 ~ 100 r/min 100 r/min -100 r/min
-1000
P1-12 TQ1
Internal Torque Command 1／Internal Torque
Limit 1
Address: 0118H
0119H
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.1
Default：
100
Control
Mode：
T／P, S
Unit：
%
Range：
-300 ~ +300
Data Size：
16-bit
Format：
Decimal
Chapter 8 Parameters ASDA-A2
8-52 Revision February, 2017
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
Example of inputting internal torque limit:
Torque limit
setting value
of P1-12
Allowable
Torque Range
Forward Torque
Limit
Reverse Torque
Limit
30
-30 ~ 30 % 30 % -30 %
-30
P1-13 TQ2
Internal Torque Command 2／Internal Torque
Limit 2
Address: 011AH
011BH
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.1
Default：
100
Control
Mode：
T／P, S
Unit：
%
Range：
-300 ~ +300
Data Size：
16-bit
Format：
Decimal
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 setting
value of P1-13
Allowable
Torque Range
Forward
Torque Limit
Reverse
Torque Limit
30
-30 ~ 30 % 30 % -30 %
-30
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-53
P1-14 TQ3
Internal Torque Command 3／Internal Torque
Limit 3
Address: 011CH
011DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.1
Default：
100
Control
Mode：
T／P, S
Unit：
%
Range：
-300 ~ +300
Data Size：
16-bit
Format：
Decimal
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 setting
value of P1-14
Allowable
Torque Range
Forward
Torque Limit
Reverse
Torque Limit
30
-30 ~ 30 % 30 % -30 %
-30
P1-15 CXFT
Capture Synchronous Axis – Threshold of
Correction
Address: 011EH
011FH
Operational
Interface：
Panel / Software Communication
Related Section:
Default：
0000h
Control
Mode：
ALL
Unit：
-
Range：
0000h ~ 0x1F5F
Data Size：
16-bit
Format：
Hexadecimal
Chapter 8 Parameters ASDA-A2
8-54 Revision February, 2017
Settings：
YX: Threshold of correction (%)
Z: Filter intensity
U: Filter is functioning (read-only)
(It will be provided after the version of V1.0.38 sub15)
YX: When synchronous axis captures the signal, the system will
calculate the error. This function is enabled only when the error is
less than the setting range. Otherwise, the system will use the new
threshold of correction to perform the operation.
YX 00 01~05F
Function Disabled It will be enabled when error is between 1%
and YX%.
Z: The setting of filter intensity (Bigger value brings less severe change
and better filter effect)
U: Value Definition (read-only):
0: Filter function is disabled. It means the error is greater than Y & X
Range.
1: Filter function is enabled. It means the error is within Y & X range.
If value Z or YX is 0, filter function is disabled.
Z 0 1~F
Function Disabled Average of 2^Z: Enabled
P1-16 CSOF
Capture Synchronous Axis – Offset
Compensation
Address: 0120H
0121H
Operational
Interface：
Panel / Software Communication
Related Section:
Default：
0
Control
Mode：
PR
Unit：
Pulse unit of Capture Axis
Range：
-32768 ~ +32767
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-55
Data Size：
16-bit
Format：
Decimal
Settings：
When capture synchronous axis is enabled, if desire to change the
synchronous error (P5-79), setting this parameter will do.
Write P1-16: P5-79 ＝ P5-79 + writing value
Read P1-16: Read value ＝ P5-79
NOTE
1） The setting value of this parameter is the accumulative value,
which will not be influenced by current error value.
2） The value of P5-79 can be monitored by monitoring variable 0x54.
P1-17 TEET
Compensation of Following Error－Additional
Time Setting
Address: 0122H
0123H
Operational
Interface：
Panel / Software Communication
Related Section:
Default：
0
Control
Mode：
ALL
Unit：
Ms; the smallest unit is usec
Range：
-20.000 ~ +20.000 (three decimal point)
Data Size：
16-bit
Format：
Decimal
Example：
1.5 = Motor speed x 1.5 ms (PUU)
Settings：
When this function is enabled (P1-36 = 1), the system will make the
position error (PUU) close to 0 according to the compensation amount
of command. If the time delay is caused by other reasons, users could
setup the additional compensation time to compensate the position
error.
Additional compensation distance ＝ P1-17 x Motor speed
NOTE
1) Value of P1-36 has to set to 1.
Chapter 8 Parameters ASDA-A2
8-56 Revision February, 2017
P1-18 CPCT
Electronic Cam (E-Cam) Pulse Phase
Compensation – Time Setting
Address: 0124H
0125H
Operational
Interface：
Panel /Software Communication
Related Section: N/A
Default：
0
Control
Mode：
PR
Unit：
ms with fraction down to usec
Range：
-20.000 ~ +20.000 (Three decimal point)
Data Size：
16-bit
Format：
Decimal
Settings：(This function is available in firmware version V1.038 sub48 and later
models only)
This parameter is used to compensate the delay pulse phase when the
electronic cam function is enabled during operation. Please use this
parameter with P1-21.
Compensated Pulse Phase (pls) = P1-18 x (Pulse Frequency of E-Cam
Master Axis (Kpps) – P1-21)
Please note:
1. The setting value of this parameter is proportioned to the value of
the pulse frequency of E-Cam master axis.
2. The pulse phase compensation function is enabled only when the
setting value of parameter P1-18 is not equal to 0.
3. The pulse phase compensation function is enabled only when the
value of the pulse frequency of E-Cam master axis (monitoring
variable is 060) Pulse number of E-Cam master axis (Incremental))
is higher than the setting value of parameter P1-21.
P1-19 CPEX
CAPTURE / COMPARE – Additional Function
Settings
Address: 0126H
0127H
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
0
Control
Mode：
ALL
Unit：
N/A
Range：
0x0000 ~ 0x0101
Data Size：
16-bit
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-57
Format：
Hexadecimal
Settings：
X: Bit settings of Capture additional function settings:
Bit 3 2 1 0
Function - - - Repeating Mode
Explanation - - -
Enable the repeating mode. After the last
position is captured, the system will
automatically repeat this CAPTURE
function. The captured data is still stored in
the data array that the starting address is
specified by P5-36!
(This function is available in firmware
version V1.038 sub19 and later models only)
Y: Reserved
Z: Bit settings of Compare additional function settings:
Bit 3 2 1 0
Function - - - Automatically set P1-24 to 0.
Explanation - - -
When Bit0 is set to 1, P1-24 will only be
effective once and reset to 0 automatically!
Otherwise, the value of P1-24 will remain
unchanged.
(This function is available in firmware
version V1.038 sub19 and later models only)
U: Reserved
P1-20 CPMK CAPTURE – Masking Range Setting
Address: 0128H
0129H
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
0
Control
Mode：
ALL
Unit：
The Pulse Unit of Capture Axis
Range：
0 ~ +100000000
Data
Size：
32-bit
Chapter 8 Parameters ASDA-A2
8-58 Revision February, 2017
Format：
Decimal
Settings：When multiple points are required to be captured, after each point is
captured, the masking range can be set in this parameter. In the
masking area, the CAPTURE function will not work. The masking range
is defined as follows:
(CAP_DATA-P1-20，CAP_DATA+P1-20)
Please note:
When the setting value of this parameter is set to 0, the masking
function is disabled.
P1-21 CPCL
E-Cam Pulse Phase Compensation – Min.
Frequency Setting of Master Axis
Address: 012AH
012BH
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
0
Control
Mode：
PR
Unit：
Kpps (Kpulse/sec)
Range：
-32768 ~ +32767
Data
Size：
16-bit
Format：
Decimal
Settings：(This function is available in firmware version V1.038 sub48 and later
models only)
This parameter is used to compensate the delay pulse phase when the
electronic cam function is enabled during operation. Please use this
parameter with P1-18.
Compensated Pulse Phase (pls) = P1-18 x (Pulse Frequency of E-Cam
Master Axis (Kpps) – P1-21)
Please note:
1. The setting value of this parameter is proportioned to the value
of the pulse frequency of E-Cam master axis.
2. The pulse phase compensation function is enabled only when the
setting value of parameter P1-18 is not equal to 0.
3. The pulse phase compensation function is enabled only when the
value of the pulse frequency of E-Cam master axis (monitoring
variable is 060) Pulse number of E-Cam master axis (Incremental))
is higher than the setting value of parameter P1-21.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-59
P1-22 SPF1 PR Special Filter Settings
Address: 012CH
012DH
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
000h
Control
Mode：
PR
Unit：
N/A
Range：
0000h ~ 0x107F
Data
Size：
16-bit format = UZYX
Format：
Hexadecimal
Settings：YX: Acceleration time limit (0: Disabled, [1~127] x 10ms), Units: 10ms
Z: Reserved
U: Reverse inhibit (0: Disabled; 1: Enabled)
YX: The acceleration time limit is 0 ~ 1270 ms. When the changes of
PR (or E-Cam) commands are too fast, it will cause the vibration of
the mechanical system and affect the system performance. This
function can be used to control the acceleration (deceleration)
speed without exceeding the limit and can smooth the operation,
reduce the noise and extend the system life.
This function is different from the general filter. The traditional one
filter the command regardless the command change. This causes
the delay of command delivered and reduces the efficiency of the
system. This function can help to disable the filter function when
the command changes within the limit. Then, the commands can
be delivered without any time delay. The definition of this setting is
the required acceleration time when the motor runs from 0 to 3000
r/min. The required time is longer, the effect of the filter function is
better and the acceleration / deceleration will become smoother.
Please note:
The unit of acceleration time limit is 10ms. For example, if YX=12h,
the acceleration time limit is 180ms. It means the filter function is
enabled when the acceleration or deceleration time is faster than
180ms. Otherwise, the command will remain unchanged.
Chapter 8 Parameters ASDA-A2
8-60 Revision February, 2017
Note: When this filter function is enabled, it may cause the motor goes beyond
the original position. Usually, the motor will return to the original position
after the command becomes stable. However, if the command does not
become stable, the internal position errors may be accumulated and
result in AL.404.
Note: The filter time has to be set properly. It should be shorter than the
acceleration time and longer than the abnormal command.
Note: The function of U item can be used to avoid the reverse operation.
U: Reverse Inhibit Function (0: Disable the function; 1: enable the function)
When this reverse inhibit function is enabled, the reverse command will be
inhibited. The reverse command will be reserved and output after the received
forward command exceeds the reserved reverse command.
Position
Command
(PUU)
Position
Command
(PUU)
Time
Time
After reverse inhibit
function is enabled
Reverse inhibit
function is enabled
Reverse inhibit
function is disabled
Reverse Command
Time
Original Command
Filtered Command
Normal Commands
Two commands are
overlapped.
Overexcited
Commands
Filter function is
enabled.
Speed
Command
(PUU/ms)
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-61
P1-23 CMOF
COMPARE－Offset Data of CMP (non-volatile)
Address: 012EH
012FH
Operational
Interface：
Panel / Software Communication
Related Section：
Default：
0
Control
Mode：
ALL
Unit：
Pulse unit of compare source
Range：
-10000000 ~ +10000000
Data Size：
32-bit
Format：
Decimal
Settings：
The real compared data is offset by this value.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
NOTE
1）P1-23: Non-volatile parameter
2）P1-24: After setting, if P1-19.Z0 = 1, the value will be 0
automatically.
3）CMP_DATA can be monitored via monitoring variable 0x25.
P1-24■
CMOF
COMPARE－Offset Data of CMP (can reset to
0 automatically)
Address: 0130H
0131H
Operational
Interface：
Panel / Software Communication
Related Section:
Default：
0
Control
Mode：
ALL
Unit：
Pulse unit of compare source
Range：
-32768 ~ +32767
Data Size：
16-bit
Format：
Decimal
Settings：
The real compared data is offset by this value.
CMP_DATA = DATA_ARRAY[*] + P1-23 + P1-24
NOTE
1）P1-24: volatile parameter.
2）After setting, if P1-19.Z0 = 1, the value will be 0 automatically.
Chapter 8 Parameters ASDA-A2
8-62 Revision February, 2017
P1-25
VSF1 Low-frequency Vibration Suppression (1)
Address: 0132H
0133H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
1000
Control
Mode：
PT / PR
Unit：
0.1 Hz
Range：
10 ~ 1000
Data Size：
16-bit
Format：
Decimal
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
VSG1
Low-frequency Vibration Suppression Gain
(1)
Address: 0134H
0135H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
0
Control
Mode：
PT / PR
Unit：
-
Range：
0 ~ 9 (0: Disable the first low-frequency filter)
Data Size：
16-bit
Format：
Decimal
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-63
P1-27
VSF2 Low-frequency Vibration Suppression (2)
Address: 0136H
0137H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
1000
Control
Mode：
PT / PR
Unit：
0.1 Hz
Range：
10 ~ 1000
Data Size：
16-bit
Format：
Decimal
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
VSG2 Low-frequency Vibration Suppression Gain (2)
Address: 0138H
0139H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
0
Control
Mode：
PT / PR
Unit：
-
Range：
0 ~ 9 (0: Disable the second low-frequency
filter)
Data Size：
16-bit
Format：
Decimal
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.
Chapter 8 Parameters ASDA-A2
8-64 Revision February, 2017
P1-29
AVSM
Auto Low-frequency Vibration Supression
Setting
Address: 013AH
013BH
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
0
Control
Mode：
PT / PR
Unit：
-
Range：
0 ~ 1
Data Size：
16-bit
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
Address: 013CH
013DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.9
Default：
500
Control
Mode：
PT / PR
Unit：
Pulse
Range：
1 ~ 8000
Data Size：
16-bit
Format：
Decimal
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-65
P1-31 Reserved
P1-32 LSTP Motor Stop Mode
Address: 0140H
0141H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x20
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Not in use
Selection of executing dynamic brake
Not in use
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 Reserved
P1-34 TACC Acceleration Constant of S-Curve
Address: 0144H
0145H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.3
Default：
200
Control
Mode：
S
Unit：
ms
Chapter 8 Parameters ASDA-A2
8-66 Revision February, 2017
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Acceleration Constant of Rotary Motor:
The time that speed command accelerates from 0 to the rated speed.
Acceleration Constant of Linear Motor
The time that speed command accelerates from 0 to 5m/s.
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
Address: 0146H
0147H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.3
Default：
200
Control
Mode：
S
Unit：
ms
Range：
1 ~ 65500
Data Size：
16-bit
Format：
Decimal
Settings：
Deceleration Constant of Rotary Motor:
The time that speed command decelerates from the rated speed to 0.
Deceleration Constant of Linear Motor:
The time that speed command decelerates from 5m/s to 0.
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-67
P1-36 TSL
Acceleration / Deceleration Constant of S-
Curve
Address: 0148H
0149H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.3
Default：
0
Control
Mode：
S, PR
Unit：
ms
Range：
0 ~ 65500 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
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.
Version after V1.036 sub00 provides the compensation function of
following error.
P1-36 = 0 P1-36 = 1 P1-36 > 1
Smoothing function of
S-curve
Disable Disable Enable
Compensation
function of following
error
Disable Enable Determine by P2-68.X
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.
Chapter 8 Parameters ASDA-A2
8-68 Revision February, 2017
P1-37 GDR
Inertia Ratio and Load Weight Ratio to Servo
Motor
Address: 014AH
014BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1.0 10
Control
Mode：
ALL
Unit：
1times 0.1times
Range：
0.0 ~ 200.0 0 ~ 2000
Data Size：
16-bit
Format：
One decimal DEC
Example：
1.5 = 1.5 times 15 = 1.5 times
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.
Total weight of movable section and load (linear motor) (will be
available soon):
(M_load+M_motor)
Among them:
M_motor: the weight of servo motor
M_load: Total equivalent weight of mechanical loading
P1-38 ZSPD Zero Speed Range Setting
Address: 014CH
014DH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
10.0 100
Control
Mode：
ALL
Unit：
1 r/min 0.1 r/min
Range：
0.0 ~ 200.0 0 ~ 2000
Data Size：
16-bit
Format：
One decimal DEC
Example：
1.5 = 1.5 r/min
15 = 1.5 r/min
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-69
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
Address: 014EH
014FH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
3000
Control
Mode：
ALL
Unit：
r/min
Range：
0 ~ 5000
Data Size：
16-bit
Format：
Decimal
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▲
VCM Maximum Output of Analog Speed Command
Address: 0150H
0151H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.4
Default：
Same as the rated speed of each model
Control
Mode：
S／T
Unit：
r/min
Range：
0 ~ 5000
Data Size：
16-bit
Format：
Decimal
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
Chapter 8 Parameters ASDA-A2
8-70 Revision February, 2017
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
P1-41▲
TCM Maximum Output of Analog Torque Speed
Address: 0152H
0153H
Operational
Interface：
Panel / Software Communication
Related Section:
6.4.4
Default：
100
Control
Mode：
ALL
Unit：
%
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
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 Brake
Address: 0154H
0155H
Operational
Interface：
Panel / Software Communication
Related Section:
6.5.5
Default：
0
Control
Mode：
ALL
Unit：
ms
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-71
Settings：
Set the delay time from servo ON to activate the signal of mechanical
brake (BRKR).
P1-43 MBT2 Disable Delay Time of Brake
Address: 0156H
0157H
Operational
Interface：
Panel / Software Communication
Related Section:
6.5.5
Default：
0
Control
Mode：
ALL
Unit：
ms
Range：
-1000 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
Set the delay time from servo OFF to switch off the signal of 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 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 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)
Address: 0158H
0159H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.5
Default：
1
Control
Mode：
PT／PR
Unit：
Pulse
Range：
1 ~ (2
29
-1)
Chapter 8 Parameters ASDA-A2
8-72 Revision February, 2017
Data Size：
32-bit
Format：
Decimal
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 Gear Ratio (Denominator) (M)
Address: 015AH
015BH
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.5
Default：
1
Control
Mode：
PT／PR
Unit：
Pulse
Range：
1 ~ (2
31
-1)
Data Size：
32-bit
Format：
Decimal
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
f1
N
M
Position
command
f2
f2 = f1 x
N
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.
P1-46▲
GR3 Pulse Number of Encoder Output
Address: 015CH
015DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
2500
Control
Mode：
ALL
Unit：
Pulse
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-73
Range：
20 ~ 320000
Data Size：
32-bit
Format：
Decimal
Settings：
The number of single-phase 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.
3.
6
1019.8 4 461P
60
Speed Motor
P1-47 SPOK
Speed Reached (DO：SP_OK) Range
Address: 015EH
015FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
10 100
Control
Mode：
S / Sz S / Sz
Unit：
r/min 0.1 r/min
Range：
0 ~ 300 0 ~ 3000
Data Size：
16-bit 16-bit
Format：
Decimal Decimal
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.
Block diagram:
Chapter 8 Parameters ASDA-A2
8-74 Revision February, 2017
1. 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
2. Feedback speed: The actual speed of the motor and have gone
through the filter.
3. Obtain the absolute value.
4. 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.
P1-48 MCOK
Operation Selection of Motion Reached
(DO.MC_OK)
Address: 0160H
0161H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0x0000
Control
Mode：
PR
Unit：
-
Range：
0x0000 ~ 0x0011
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Control selection of digital output DO.MC_OK (DO code is 0x17).
(It will be available after firmware version V1.003 sub08)
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: AL.380 (position deviation) is not working
1: AL.380 (position deviation) is working
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-75
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.
6. 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.
P1-49 SPOKWT Accumulative Time of Speed Reached
Address: 0162H
0163H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
0
Control
Mode：
S/Sz
Unit：
ms
Range：
0 ~ 65535
Data Size：
16-bit
Chapter 8 Parameters ASDA-A2
8-76 Revision February, 2017
Format：
DEC
Settings：
In speed mode, when the deviation value between speed command
and motor feedback speed is smaller than the range set by P1-47
and reaches the time set by P1-79, DO.SP_OK will be On. If the
deviation value exceeds the range set by P1-47, it has to reclock the
time.
P1-50 ~
P1-51
Reserved
P1-52 RES1 Regenerative Resistor Value
Address: 0168H
0169H
Operational
Interface：
Panel / Software Communication
Related Section:
2.7
Default：
Determined by the model. Please refer to the
following table.
Control
Mode：
ALL
Unit：
Ohm
Range：
220V
Model
Setting
Range
400W (included) or
below
30 ~ 750
750W ~ 1.5kW 20 ~ 750
2kW ~ 4.5kW 10 ~ 750
5.5
W 8 ~ 750
7.5kW 5 ~ 750
11kW 8 ~ 750
15 kW 5 ~ 750
400V
Model
Setting
Range
750W ~ 1.5kW 60 ~ 750
1.5kW ~ 2kW 40 ~ 750
3
W 30 ~ 750
4.5kW ~ 5.5kW 20 ~ 750
7.5kW 15 ~ 750
Data Size：
16-bit
Format：
Decimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-77
Settings：
220V:
Model Default
1.5 kW (included) or below 40Ω
2 kW ~ 4.5 kW (included) 20Ω
5.5 kW 15Ω
7.5 kW 15Ω
400V:
Model Default
750W ~ 7.5kW 80Ω
Please refer to the description of P1-53 for the setting value when
connecting regenerative resistor with different method.
P1-53 RES2 Regenerative Resistor Capacity
Address: 016AH
016BH
Operational
Interface：
Panel / Software Communication
Related Section:
2.7
Default：
Determined by the model. Please refer to the
following table.
Control
Mode：
ALL
Unit：
Watt
Range：
0 ~ 6000
(for 11kW, 15kW, the setting range is from 0
to 15000)
Data Size：
16-bit
Format：
Decimal
Settings：
220V
Model Default
200W (included) or below 0W
400W 40W
750W ~ 1.5kW 60W
2 kW ~ 4.5 kW (included) 100W
5.5 kW 0W
7.5 kW 0W
400V
Model Default
750W ~ 1.5kW 100W
2 kW ~ 4.5 kW 0W
Chapter 8 Parameters ASDA-A2
8-78 Revision February, 2017
Following describes the setting value when connecting regenerative
resistor with different method:
Setting:
P1-52=10 (Ω)
P
-53=1000 (W)
Setting:
P1-52=20 (Ω)
P1-53=2000 (W)
Setting:
P1-52=5 (Ω)
P1-53=2000 (W)
P1-54 PER Position Completed Range
Address: 016CH
016DH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
12800
Control
Mode：
PT／PR
Unit：
Pulse
Range：
0 ~ 1280000
Data Size：
32-bit
Format：
Decimal
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-79
P1-55 MSPD Maximum Speed Limit
Address: 016EH
016FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
Same as the rated speed of each model
Control
Mode：
ALL
Unit：
r/min
Range：
0 ~ max.speed
Data Size：
16-bit
Format：
Decimal
Settings：
The default of the max. speed of servo motor is set to the rated speed.
P1-56 OVW Output Overload Warning Level
Address: 0170H
0171H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
120
Control
Mode：
ALL
Unit：
%
Range：
0 ~ 120
Data Size：
16-bit
Format：
Decimal
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 CRSHA Motor Crash Protection (torque percentage)
Address: 0172H
0173H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Chapter 8 Parameters ASDA-A2
8-80 Revision February, 2017
Unit：
%
Range：
0 ~ 300
Data Size：
16-bit
Format：
Decimal
Settings：
Setup protection level (for the percentage of rated torque, set the value
to 0 means to disable the function, set the value to 1 or number above
means to enable the function)
P1-58 CRSHT Motor Crash Protection Time
Address: 0174H
0175H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1
Control
Mode：
ALL
Unit：
ms
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
Setup the protection time:
When it reaches the level, AL.030 occurs after exceeding the
protection time.
NOTE
This function is only suitable for non-contactable application, such as
electric discharge machines. (Please setup P1-37 correctly).
P1-59 MFLT Analog Speed Command
Address: 0176H
0177H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0.0 0
Control
Mode：
S
Unit：
1 ms 0.1 ms
Range：
0.0 ~ 4.0 0 ~ 40
Data Size：
16-bit
Format：
One decimal DEC
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-81
Example：
1.5 = 1.5 ms 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.
P1-60 ~
P1-61
Reserved
P1-62 FRCL Friction Compensation
Address: 017CH
017DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PT／PR／S
Unit：
%
Range：
0 ~ 100
Data Size：
16-bit
Format：
Decimal
Settings：
The level of friction compensation (the percentage of rated torque. Set
the value to 0 means to disable the function; set the value to 1 or
number above means to enable it.)
Command that has
gone through moving
filter
Holding Time
Original step analog speed command
Chapter 8 Parameters ASDA-A2
8-82 Revision February, 2017
P1-63 FRCT Friction Compensation
Address: 017EH
017FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PT／PR／S
Unit：
ms
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
Setup smoothing constant of friction compensation.
P1-64 PCCT
Analog Position Command: Activation
Control
Address: 0180H
0181H
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
0x00
Control
Mode：
PT
Unit：
--
Range：
0 x00~ 0x11
Data Size：
32-bit
Format：
Hexadecimal
Settings：
X:
0: Disable the function of position command which is issued by
analog
1: Enable the function of position command which is issued by
analog
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-83
Y: Initial position setting
0: After servo on, the motor will regard the current position as the
position when the voltage is 0. Then the motor will operate to the
position according to the command issued by analog input.
1: After SERVO ON, if the command level is not changed, the motor
will not operate. The position the motor stops is the position that
corresponds to the current command level.
Motor position
(Turn)
Analog input
command
(V)
Command
level
The current
position of the
motor
The position which
corresponds to 0V
remains
When executing this
function, if the
command level is not
changed, the motor
will not operate
Z: Reserved
U: Reserved
NOTE
Version after firmware v1.031 sub8 supports this function.
P1-65 Smooth Constant of Analog Position Command
Address: 0182H
0183H
Operational
Interface：
Panel/Software Communication
Related Section: N/A
Default：
1
Control
Mode：
PT
Unit：
10 ms
Motor position
Analog
input
command
(V)
Current
command
level
See the current
position as the
position when
voltage is 0
When executing
this function, the
motor will operate
to the position
which corresponds
to the current
voltage command
(Turn)
Chapter 8 Parameters ASDA-A2
8-84 Revision February, 2017
Range：
1 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings： The smooth constant of analog position command is only effective to
analog position command.
P1-66 PCM
Max. Rotation Number of Analog Position
Command
Address: 0184H
0185H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1.0 10
Control Mode：
PT
Unit：
1 cycle 0.1 cycle
Range：
0.0 ~ 200.0 0 ~ 2000
Data Size：
16-bit
Format：
One decimal DEC
Example：
1.5 = 1.5 cycles 15 = 1.5 cycles
Settings：
It is the rotation number setting when analog speed command
inputs the max. voltage (10V). If it is set to 30 and the external
voltage inputs 10V, it means the position command is +3 cycles. 5V
means the speed control command is 1.5 cycles.
-10V means the position command is -3 cycles.
Position control command = Input voltage value x Setting value／10
NOTE
It will be available after firmware version v1.031 sub8.
P1-67 Reserved
P1-68 PFLT2 Position Command Moving Filter
Address: 0188H
0189H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
4
Control
Mode：
PT／PR
Unit：
ms
Range：
0 ~ 100
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-85
Data Size：
16-bit
Format：
Decimal
Settings：
0: Disabled
Moving Filter can activate smooth function in
the beginning and the end of step command,
but it will delay the command.
P1-69 ~
P1-71
Reserved
P1-72 FRES
Resolution of Linear Scale for Full-closed
Loop Control
Address: 0190H
0191H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
5000
Control
Mode：
PT
Unit： pulse／rev
Range：
200 ~1280000
Data Size：
32-bit
Format：
Decimal
Settings：
A/B pulse corresponded by full-closed loop when motor runs a cycle
(after quadruple frequency)
Chapter 8 Parameters ASDA-A2
8-86 Revision February, 2017
P1-73 FERR
Error Protection Range for Full-closed Loop
Control
Address: 0192H
0193H
Operational
Interface：
Panel / Software Communication
Related Section:
P2-34
Default：
30000
Control
Mode：
PT
Unit：
Pulse (based on the feedback of full-closed
loop)
Range：
1 ~ (2
31
-1)
Data Size：
32-bit
Format：
Decimal
Settings：
The protection is for excessive deviation between feedback position of
linear scale and the encoder. When the deviation is excessive, it might
result from the loose of connector or other mechanism problems.
P1-74▲
FCON Full-closed Loop Control of Linear Scale
Address: 0194H
0195H
Operational
Interface：
Panel / Software Communication
Related Section: P1-46
Default：
1000h
Control
Mode：
PT
Unit：
-
Range：
0000h ~ 0x4122
Data Size：
16-bit
Format：
Hexadecimal
Settings：
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-87
Switch of full-closed loop control
0: Function of full-closed loop is not used
1: Function of full-closed loop is used
2: Use the function of synchronous control
Selection of OA/OB/OZ output source
0: Motor encoder is the output source
1: Encoder of linear scale is the output source
Firmware version DSP V1.016 + CPLD 0.07(or the later version)
will provide:
2: Pulse command of CN1 is the output source
Positive / negative direction selection of linear scale feedback:
0: It is in positive direction when A phase leads B phase of linear
scale
1: It is in negative direction when B phase leads A phase of linear
scale
Filter setting of linear scale
0: BYPASS
1: 20Mhz
2: 10Mhz
3: 6.66Mhz
4: 1.66Mhz
5: 833K
6: 416K
P1-75 FELP
Low-pass Filter Time Constant of Full-closed
Loop control
Address: 0196H
0197H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
100
Control
Mode：
PT
Unit：
ms
Range：
0 ~ 1000
Data Size：
16-bit
Format：
Decimal
Settings：
When the stiffness of mechanical system between full- and half-closed
loops is insufficient, users can setup the appropriate time constant to
enhance the stability of the system.
Set the value to 0 to disable the function of low-pass filter (Bypass)
The stiffness of mechanical system ↑, the setting value of P1-75 ↓
The stiffness of mechanical system ↓, the setting value of P1-75 ↑
Chapter 8 Parameters ASDA-A2
8-88 Revision February, 2017
P1-76 AMSPD
Maximum Rotation of Encoder Output Setting
(OA, OB)
Address: 0198H
0199H
Operational
Interface：
Panel / Software Communication
Related Section:
P1-46
Default：
5500
Control
Mode：
ALL
Unit：
r/min
Range：
0 ~ 6000
Data Size：
16-bit
Format：
Decimal
Settings：
A
ccording 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.
P1-77 ~
P1-80
Reserved
P1-81 VCM2 Max. Speed of 2
nd
Analog Speed Command
Address: 01A2H
01A3H
Operational
Interface：
Panel / Software Communication
Related Section:
P1-40
Default：
Motor rated speed
Control
Mode：
S/T
Unit：
rpm/10V
Range：
0 ~ 50000
Data Size：
32-bit
Format：
Decimal
Settings：
Please refer to the description of P1-40.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-89
P1-82 VCMLPF
Filter Switching Time between P1-40 and P1-
81
Address: 01A4H
01A5H
Operational
Interface：
Panel / Software Communication
Related Section:
Default：
0
Control
Mode：
S
Unit：
msec
Range：
0 ~ 1000 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
Settings：
0: Disabled
P1-83 VCMLPF Abnormal Analog Input Voltage Level
Address: 01A6H
01A7H
Operational
Interface：
Panel/Software Communication
Related Section:
Default：
0
Control
Mode：
S
Unit：
mV
Range：
0 ~ 12000 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
Settings： When analog input voltage is over 50ms, AL.042 will occur. The
compared level for this parameter is the original analog input voltage
which has not been added by an offset value via parameter P4-22,
Analog Speed Input Offset.
Chapter 8 Parameters ASDA-A2
8-90 Revision February, 2017
P1-87 HMTQL Torque Limit Setting
Address: 01A8H
01A9H
Operational
Interface：
Panel/Software Communication
Related Section:
Default：
1
Control
Mode：
PR
Unit：
%
Range：
1~300
Data Size：
16-bit
Format：
Decimal
Settings：
Torque limit setting in torque limit homing mode.
P1-88 HMTQT Torque Limit Time Setting
Address: 01AAH
01ABH
Operational
Interface：
Panel/Software Communication
Related Section:
Default：
2000
Control
Mode：
PR
Unit：
ms
Range：
2~2000
Data Size：
16-bit
Format：
Decimal
Settings：
Torque limit time setting in torque limit homing mode.
