ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-91
P2-xx Extension Parameters
P2-00 KPP Position Loop Gain
Address: 0200H
0201H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.8
Default：
35
Control
Mode：
PT／PR
Unit：
rad/s
Range：
0 ~ 2047
Data Size：
16-bit
Format：
Decimal
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
Address: 0202H
0203H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.8
Default：
100
Control
Mode：
PT／PR
Unit：
%
Range：
10 ~ 500
Data Size：
16-bit
Format：
Decimal
Settings：
Switch the changing rate of position loop gain according to the gain-
switching condition.
Chapter 8 Parameters ASDA-A2
8-92 Revision February, 2017
P2-02 PFG Position Feed Forward Gain
Address: 0204H
0205H
Operational
Interface：
Panel / Software Communication
Related Section:
6.2.8
Default：
50
Control
Mode：
PT／PR
Unit：
%
Range：
0 ~ 100
Data Size：
16-bit
Format：
Decimal
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
Address: 0206H
0207H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
5
Control
Mode：
PT／PR
Unit：
ms
Range：
2 ~ 100
Data Size：
16-bit
Format：
Decimal
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-93
P2-04 KVP Speed Loop Gain
Address: 0208H
0209H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
500
Control
Mode：
ALL
Unit：
rad/s
Range：
0 ~ 8191
Data Size：
16-bit
Format：
Decimal
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
Address: 020AH
020BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
100
Control
Mode：
ALL
Unit：
%
Range：
10 ~ 500
Data Size：
16-bit
Format：
Decimal
Settings：
Switch the changing rate of speed loop gain according to the gain
switching condition.
Chapter 8 Parameters ASDA-A2
8-94 Revision February, 2017
P2-06 KVI Speed Integral Compensation
Address: 020CH
020DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
100
Control
Mode：
ALL
Unit：
rad/s
Range：
0 ~ 1023
Data Size：
16-bit
Format：
Decimal
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
Address: 020EH
020FH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
0
Control
Mode：
ALL
Unit：
%
Range：
0 ~ 100
Data Size：
16-bit
Format：
Decimal
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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-95
P2-08■
PCTL Special Parameter Write-in
Address: 0210H
0211H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 65535
Data Size：
16-bit
Format：
Decimal
Settings：
Special parameter write-in:
Parameter
code
Function
10 Reset the parameter (Apply to the power again after reset)
20 P4-10 is writable
22 P4-11~P4-21are writable
30,35 Save the data of COMPARE, CAPTURE, E-Cam
406
Enable forced DO mode
400
When forced DO mode is enabled, it can switch back to
the normal DO mode.
NOTE
A2L does not support E-Cam function.
P2-09 DRT DI Debouncing Time
Address: 0212H
0213H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
2
Control
Mode：
ALL
Unit：
ms
Range：
0 ~ 20
Data Size：
16-bit
Format：
Decimal
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.
Chapter 8 Parameters ASDA-A2
8-96 Revision February, 2017
P2-10 DI1 DI1 Functional Planning
Address: 0214H
0215H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
101
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Input function selection
Input contact
Not in use
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 opened (a contact)
(P2-10 ~ P2-17) The setting value of function programmed
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.
P2-11 DI2 DI2 Functional Planning
Address: 0216H
0217H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
104
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-97
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-12 DI3 DI3 Functional Planning
Address: 0218H
0219H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
116
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-13 DI4 DI4 Functional Planning
Address: 021AH
021BH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
117
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
Chapter 8 Parameters ASDA-A2
8-98 Revision February, 2017
P2-14 DI5 DI5 Functional Planning
Address: 021CH
021DH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
102
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-15 DI6 DI6 Functional Planning
Address: 021EH
021FH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
22
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-16 DI7 DI7 Functional Planning
Address: 0220H
0221H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
23
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-99
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-17 DI8 DI8 Functional Planning
Address: 0222H
0223H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
21
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are DI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-10
P2-18 DO1 DO1 Functional Planning
Address: 0224H
0225H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
101
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x013F (the last two codes are DO code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Output function selection
Output contact
Not in use
Chapter 8 Parameters ASDA-A2
8-100 Revision February, 2017
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 opened (a contact)
(P2-18 ~ P2-22) The setting value of function programmed
When parameters are modified, please re-start the servo drive to
ensure it can work normally.
P2-19 DO2 DO2 Functional Planning
Address: 0226H
0227H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
103
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x013F (the last two codes are DO code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-18
P2-20 DO3 DO3 Functional Planning
Address: 0228H
0229H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
109
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x013F (the last two codes are DO code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-18
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-101
P2-21 DO4 DO4 Functional Planning
Address: 022AH
022BH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
105
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x013F (the last two codes are DO code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-18
P2-22 DO5 DO5 Functional Planning
Address: 022CH
022DH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.2
Default：
7
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x013F (the last two codes are DO code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-18
P2-23 NCF1 Resonance Suppression (Notch filter) (1)
Address: 022EH
022FH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
1000
Control
Mode：
ALL
Unit：
Hz
Range：
50 ~ 1000
Chapter 8 Parameters ASDA-A2
8-102 Revision February, 2017
Data Size：
16-bit
Format：
Decimal
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)
Address: 0230H
0231H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
0
Control
Mode：
ALL
Unit：
dB
Range：
0 ~ 32 (0: disable the function of Notch filter)
Data Size：
16-bit
Format：
Decimal
Settings：
The first resonance suppression (notch filter) attenuation rate. When
this parameter is set to 0, the function of Notch filter is disabled.
NOTE
If the value of attenuation rate is set to 5, then, it would be -5dB.
P2-25 NLP Low-pass Filter of Resonance Suppression
Address: 0232H
0233H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
0.2 (under 1kW) or
0.5 (other model)
2 (under 1kW) or
0.5 (other model)
Control
Mode：
ALL
Unit：
1 ms 0.1 ms
Range：
0.0 ~ 100.0 0 ~ 1000
Data Size：
16-bit
Format：
One decimal DEC
Example：
1.5 = 1.5 ms 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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-103
P2-26 DST Anti-interference Gain
Address: 0234H
0235H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
1
Range：
0 ~ 1023 (0: disable this function)
Data Size：
16-bit
Format：
Decimal
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 P2-06. If users
desire to adjust P2-26, please follow the rules below.
1. In speed mode, increase 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
Address: 0236H
0237H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0x0000 ~ 0x0018
Data Size：
16-bit
Format：
Hexadecimal
Chapter 8 Parameters ASDA-A2
8-104 Revision February, 2017
Settings：
Gain switching conditon
Gain switching method
Not in use
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
Value
Control Mode P Control Mode S
0
P2-00 x 100%
P2-04 x 100%
P2-04 x 100% Before switching
P2-00 x P2-01
P2-04 x P2-05
P2-04 x P2-05 After switching
1
P2-06 x 0%
P2-26 x 0%
Before switching
P2-06 x 100%
P2-26 x 100%
After switching
P2-28 GUT Gain Switching Time Constant
Address: 0238H
0239H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
10
Control
Mode：
ALL
Unit：
10ms
Range：
0 ~ 1000
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-105
Data Size：
16-bit
Format：
Decimal
Example：
15 = 150 ms
Settings：
It is for switching the smooth gain. (0: disable this function)
P2-29 GPE Gain Switching
Address: 023AH
023BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1280000
Control
Mode：
ALL
Unit：
Pulse, Kpps, r/min
Range：
0 ~ 3840000
Data Size：
32-bit
Format：
Decimal
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
Address: 023CH
023DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
-8 ~ +8
Data Size：
16-bit
Format：
Decimal
Chapter 8 Parameters ASDA-A2
8-106 Revision February, 2017
Settings：
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 power off.
When the data is no need to save, it can avoid the parameters
continuously writing into 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: (It will be available after firmware version V1.013)
High-speed oscilloscope, disable Time-Out function (It is for PC
software)
8: (It will be available after firmware version V1.013)
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: (It will be available after firmware version V1.013)
Individually disable the function of 1,5,6,7
-2~-4, -8: (Reserved)
NOTE
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
Address: 023EH
023FH
Operational
Interface：
Panel / Software Communication
Related Section:
5.6 and 6.3.6
Default：
80
Control
Mode：
ALL
Unit：
Hz
Range：
1 ~ 1000
Data Size：
16-bit
Format：
Decimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-107
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
Address: 0240H
0241H
Operational
Interface：
Panel / Software Communication
Related Section:
5.6 and 6.3.6
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x2
Data Size：
16-bit
Format：
Hexadecimal
Settings：
0: Manual Mode
1: Auto Mode (continuous adjustment)
2: Semi-auto Mode (non- continuous adjustment)
Chapter 8 Parameters ASDA-A2
8-108 Revision February, 2017
Relevant description of manual mode setting:
When P2-32 is set to 0, parameters related to gain control, such as P2-
00, P2-04, P2-06, 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 set P1-37 to the appropriate value.
3. Set the system to manual mode 0 from auto mode 1, P2-00, P2-04,
P2-06, P2-25, P2-26 and P2-49 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, P2-26 and P2-49 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
Address: 0242H
0243H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x1
Data Size：
16-bit
Format：
Hexadecimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-109
Settings：
Semi-auto setting
Reserved
Not in use
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.
P2-34 SDEV The Condition of Overspeed Warning
Address: 0244H
0245H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
5000
Control
Mode：
S
Unit：
r/min
Range：
1 ~ 5000
Data Size：
16-bit
Format：
Decimal
Settings：
The setting of over speed warning in servo drive error display (P0-01)
P2-35 PDEV
Condition of Excessive Position Control
Deviation Warning
Address: 0246H
0247H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
3840000
Control
Mode：
PT／PR
Unit：
pulse
Range：
1 ~ 128000000
Data Size：
32-bit
Format：
Decimal
Chapter 8 Parameters ASDA-A2
8-110 Revision February, 2017
Settings：
The setting of excessive position control deviation warning in servo
drive error display (P0-01)
P2-36 EDI9 Extended EDI9 Functional Planning
Address: 0248H
0249H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Input function selection
Input contact
Not in use
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 opened (a contact)
(P2-36 ~ P2-41) The setting value of function programmed
When parameters are modified, please re-start the servo drive to
ensure it can work normally.
P2-37 EDI10 Extended EDI10 Functional Planning
Address: 024AH
024BH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-111
Format：
Hexadecimal
Settings：
Please refer to the description of P2-36
P2-38 EDI11 Extended EDI11 Functional Planning
Address: 024CH
024DH
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-36
P2-39 EDI12 Extended EDI12 Functional Planning
Address: 024EH
024FH
Operational
Interface：
Panel / Software Communication
Related Section
Table: 8.1
Default：
-
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-36
Chapter 8 Parameters ASDA-A2
8-112 Revision February, 2017
P2-40 EDI13 Extended EDI13 Functional Planning
Address: 0250H
0251H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
-
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-36
P2-41 EDI14 Extended EDI14 Functional Planning
Address: 0252H
0253H
Operational
Interface：
Panel / Software Communication
Related Section:
Table 8.1
Default：
-
Control
Mode：
ALL
Unit：
-
Range：
0 ~ 0x015F (the last two codes are EDI code)
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Please refer to the description of P2-36
P2-42 Reserved
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-113
P2-43 NCF2 Resonance Suppression (Notch filter) (2)
Address: 0256H
0257H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
1000
Control
Mode：
ALL
Unit：
Hz
Range：
50 ~ 2000
Data Size：
16-bit
Format：
Decimal
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)
Address: 0258H
0259H
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
0
Control
Mode：
ALL
Unit：
dB
Range：
0 ~ 32 (0: disable Notch filter)
Data Size：
16-bit
Format：
Decimal
Settings：
The second resonance suppression (notch filter) attenuation rate.
When this parameter is set to 0, the function of Notch filter is disabled.
NOTE
If the value of attenuation rate is set to 5, then it would be -5dB.
Chapter 8 Parameters ASDA-A2
8-114 Revision February, 2017
P2-45 NCF3 Resonance Suppression (Notch filter) (3)
Address: 025AH
025BH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
1000
Control
Mode：
ALL
Unit：
Hz
Range：
50 ~ 2000
Data Size：
16-bit
Format：
Decimal
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).
P2-46 DPH3
Resonance Suppression (Notch filter)
Attenuation Rate (3)
Address: 025CH
025DH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.7
Default：
0
Control
Mode：
ALL
Unit：
dB
Range：
0 ~ 32
Data Size：
16-bit
Format：
Decimal
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 ANCF Auto Resonance Suppression Mode Setting
Address: 025EH
025FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1
Control
Mode：
ALL
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-115
Unit：
-
Range：
0 ~ 2
Data Size：
16-bit
Format：
Decimal
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
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
Address: 0260H
0261H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
100
Control
Mode：
ALL
Unit：
-
Range：
1 ~ 300%
Data Size：
16-bit
Format：
Decimal
Settings：
(The smaller the setting value is, the more sensitive the resonance will
be.)
P2-48↑, resonance sensitiveness↓
P2-48↓, resonance sensitiveness↑
Chapter 8 Parameters ASDA-A2
8-116 Revision February, 2017
P2-49 SJIT Speed Detection Filter
Address: 0262H
0263H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0x00 ~ 0x1F
Data Size：
16-bit
Format：
Decimal
Settings：The filter of speed estimation
Setting Value Speed Estimation Bandwidth (Hz)
00 2500
01 2250
02 2100
03 2000
04 1800
05 1600
06 1500
Setting Value Speed Estimation Bandwidth (Hz)
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
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-117
P2-50 DCLR Pulse Clear Mode
Address: 0264H
0265H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PT
Unit：
-
Range：
0x0 ~ 0x1
Data Size：
16-bit
Format：
Hexadecimal
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
P2-52▲ IDXS Indexing Coordinates Scale
Address: 0268H
0269H
Operational
Interface：
Panel/Software Communication
Related Section:
Default：
1000000000
Control
Mode：
ALL
Unit：
PUU
18 350
19 300
1A 250
1B 200
1C 175
1D 150
1E 125
1F 100
Chapter 8 Parameters ASDA-A2
8-118 Revision February, 2017
Range：
0 ~ 1000000000
Data Size：
32-bit
Format：
Decimal
Settings：This parameter is used to set the scale of the indexing coordinates,
indexing command position and indexing feedback position. If the
setting value is too small, it may cause the error of indexing
coordinates.
Range of setting value of P2-52:
441
451
60000
1280000
Speed Motor Max.051522
P
P
r min)/(.
P
441
451
(r/min) Speed Motor Max.422
P
P
.
P2-53 KPI Position Integral Compensation
Address: 026AH
026BH
Operational
Interface：
Panel / Software Communication
Related Section:
6.3.6
Default：
0
Control
Mode：
ALL
Unit：
rad/s
Range：
0 ~ 1023
Data Size：
16-bit
Format：
Decimal
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
Address: 026CH
026DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
Rad/s
Range：
0~8191
Data Size：
16-bit
Format：
Decimal
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-119
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.
P2-55 SVI
Integral Compensation to Synchronous
Speed
Address: 026EH
026FH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
Rad/s
Range：
0~1023
Data Size：
16-bit
Format：
Decimal
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.
P2-56 SPI
Integral Compensation to Synchronous
Position
Address: 0270H
0271H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
Rad
Range：
0~1023
Data Size：
16-bit
Format：
Decimal
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.
Chapter 8 Parameters ASDA-A2
8-120 Revision February, 2017
P2-57 SBW The Bandwidth of Synchronous Control
Address: 0272H
0273H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
Hz
Range：
0~1023
Data Size：
16-bit
Format：
Decimal
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.
P2-58 SVL Low-pass Filter of Synchronous Speed Error
Address: 0274H
0275H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
0.1ms
Range：
0~1000
Data Size：
16-bit
Format：
Decimal
Example：
15 = 1.5 ms
Settings：
If the synchronous control is influenced by low resolution and causes
noise (not a high-pitched but rough sound), low-pass filter can be used
to solve this problem. Please note that bandwidth of the synchronous
control should be set as large as possible and should larger than the
bandwidth of speed-loop.
P2-59 Reserved
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-121
P2-60 GR4 Gear Ratio (Numerator) (N2)
Address: 0278H
0279H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
128
Control
Mode：
PT
Unit：
pulse
Range：
1 ~ (2
29
-1)
Data Size：
32-bit
Format：
Decimal
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)
Address: 027AH
027BH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
128
Control
Mode：
PT
Unit：
pulse
Range：
1 ~ (2
29
-1)
Data Size：
32-bit
Format：
Decimal
Settings：
Please refer to the description of P2-60.
Chapter 8 Parameters ASDA-A2
8-122 Revision February, 2017
P2-62 GR6 Gear Ratio (Numerator) (N4)
Address: 027CH
027DH
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
128
Control
Mode：
PT
Unit：
pulse
Range：
1 ~ (2
29
-1)
Data Size：
32-bit
Format：
Decimal
Settings：
Please refer to the description of P2-60.
P2-63 ~
P2-64
Reserved
P2-65 GBIT Special-bit Register
Address: 0282H
0283H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PT／PR／S
Unit：
-
Range：
0 ~ 0xFFFF
Data Size：
-
Format：
-
Settings：
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
Bit 3, 4, 5, 7 and Bit14: Reserved, please set to 0.
Bit 0 ~ Bit1
Bit 0: SPD0/SPD1 speed trigger mode
(0: level triggered; 1: rising-edge triggered)
Bit 1: TCM0/TCM1 torque trigger mode
(0: level triggered; 1: rising-edge triggered)
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-123
When rising-edge is triggered, refer to the following for the setting of
register command:
A: Execute internal register command 1
B: Execute internal register command 2
C: Execute internal register command 3
D: Execute internal register command 3
Bit 2: IGBT software protection
0: Enable the function of IGBT software protection
1: Disable the function of IGBT software protection
Bit 6: In PT mode, the switch of pulse error protection function
(pulse frequency is over high)
0: Normally use the function of pulse error protection
1: Disable the function of pulse error protection
Bit 8：U, V, W wiring error protection
1: Enable U, V, W wiring error protection
Bit 9：U, V, W wiring cut-off detection
1: Enable U, V, W wiring cut-off detection
Bit 10: DI.ZCLAMP function selection
When the following conditions are all established, the function of
ZCLAMP is enabled.
Condition 1: speed mode
Condition 2: DI. ZCLAMP is on.
Condition 3: Motor speed is slower than the value of P1-38.
0: The command source is analog, ZCLAMP function will use the
analog speed command without acceleration / deceleration
processing to judge if this function should be enabled. The motor
will be locked at the position where ZCALMP conditions are
established.
0: The command source is register. ZCLAMP function will use the
register speed command with acceleration / deceleration
processing to judge if this function is enabled. The motor will be
locked at the position where ZCALMP conditions are established.
Chapter 8 Parameters ASDA-A2
8-124 Revision February, 2017
1: The command source is analog speed command. ZCLAMP
function will use the analog speed command without acceleration
/ deceleration processing to judge if this function is enabled.
When ZCALMP conditions are established, the motor speed
decelerates to 0 through S-curve. If not, the motor follow the
analog speed command through S-curve.
1: The command source is register. ZCLAMP function will use the
register with acceleration / deceleration processing to judge if this
function is enabled. When ZCLAMP conditions are established,
the motor speed will be set to 0.
Bit 11: Pulse inhibit function
0: Disable NL / PL pulse input inhibit function. In PT mode, the
external position pulse command will be input into the
servo drive in any condition.
1: Enable NL / PL pulse input inhibit function. In PT mode, if NL
exists, the external NL pulse will be inhibited to input to
the servo. PL pulse input will be accepted. In PT mode, if
PL exists, the external PL pulse will be inhibited to input
to the servo. NL pulse will be accepted.
Please note: In PT mode, if NL and PL both exist, both of them will
be inhibited to input to the servo.
Bit12: Lack phase detection
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-125
0: Enable lack phase (AL022) detection
1: Disable lack phase (AL022) detection
Bit13: Encoder output error detection function
0: Enable encoder output error (AL018) detection function
1: Disable encoder output error (AL018) detection function
Bit15: Friction compensation mode selection
0: If the speed is slower than the value of P1-38, the compensation
value remains.
1: If the speed is slower than the value of P1-38, the compensation
will become 0 according to the smoothing time of P1-63.
P2-66 GBIT2 Special-bit Register 2
Address: 0284H
0285H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
PT / PR / S
Unit：
-
Range：
0 ~ 0x000F
Data Size：
16-bit
Format：
Hexadecimal
Chapter 8 Parameters ASDA-A2
8-126 Revision February, 2017
Settings：
Special-bit Register 2:
B7 B6 B5 B4 B3 B2 B1 B0
- - - - - - - -
B0~B1: Reserved
B2: Cancel latch function of low-voltage error
0: Latch function of low-voltage error: the error will not be cleared
automatically.
1: Cancel latch function of low-voltage error: the error will be cleared
automatically.
B3: Reserved
B4: Cancel the detection of AL.044
0: AL.044 will occur
1: AL.044 will be ignored.
B5: Enable disconnection detection of linear scale (only when the full-
closed loop control function is enabled)
0: AL.041 will be ignored
1: AL.041 will occur
B6~B8: Reserved
B9: When AL.003 occurs, switch on DO.ALM or DO.WARN
0: When AL.003 occurs, switch on DO.WARN.
1: When AL.003 occurs, switch on DO.ALM
B10~B15: Reserved.
P2-67 JSL The Stable Level of Inertia Estimation
Address: 0286H
0287H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
1.5 15
Control
Mode：
ALL
Unit：
1times 0.1times
Range：
0 ~ 200.0 0 ~ 2000
Data Size：
16-bit
Format：
One decimal Decimal
Example：
1.5 = 1.5 times 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.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-127
P2-68 TEP Switch of Following Error Compensation
Address: 0288H
0289H
Operational
Interface：
Panel / Software Communication
Related Section: -
Default：
0
Control
Mode：
ALL
Unit：
-
Range：
0x00000000 ~ 0x00002101
Data Size：
16-bit
Format：
Hexadecimal
Settings： X＝0: P1-36＞1, following error compensation is disabled.
1: P1-36＞1, following error compensation is enabled.
(The function is available after V1.036 sub00)
Y＝0: When E-CAM is engaged, JOG cannot work.
1: When E-CAM is engaged, JOG can work.
(This function is not available now.)
Z＝0: DI.STP is triggered by rising edge.
1: DI.STP is level triggered.
(The function is available after V1.042 sub00)
U＝0: unit is 0.1 rpm in speed mode
1: unit is 0.01 rpm in speed mode
2: unit is 0.05 rpm in speed mode
P2-69● ABS Absolute Encoder Setting
Address: 028AH
028BH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0
Control
Mode：
ALL
Unit：
N/A
Range：
0x0000 ~ 0x0011
Data Size：
16-bit
Format：
Hexadecimal
Settings： Format: U Z Y X
X: Setup the operation mode
0: Incremental mode. Servo motor with absolute encoder can be
Chapter 8 Parameters ASDA-A2
8-128 Revision February, 2017
operated as incremental motor.
1: Absolute mode. (This setting is only available for the servo motor
with absolute encoder. When an incremental servo motor is
connected, AL069 will occur.)
Y: Setup the pulse command when absolute position is lost
0: When AL060 or AL06A occurs, it cannot accept pulse command
1: When AL060 or AL06A occurs, it can accept pulse command
Z: Function setting when index coordinates overflow
0: Index coordinates is lost when overflows
1: Index coordinates will not overflow, but absolute coordinates will not
remain
U: Reserved
NOTE
This parameter is effective only after the servo drive is re-powered on.
P2-70 MRS Read Data Format Selection
Address: 028CH
028DH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0x0
Control
Mode：
ALL
Unit：
N/A
Range：
0x00 ~ 0x07
Data Size：
16-bit
Format：
Hexadecimal
Settings：
Bit7 Bit6 Bit5 Bit4 Bit3 Bit2 Bit1 Bit0
Bit15 Bit14 Bit13 Bit12 Bit11 Bit10 Bit9 Bit8
Bit 0: Data unit setting of digital input/output (DI/DO);
1: Pulse, 0: PUU
Bit 1: Communication data unit setting; 1: Pulse, 0: PUU
Bit 2: Overflow warning; 1: No overflow warning, 0: Overflow warning,
AL.289 (PUU), AL.062 (pulse).
Bit 3 ~ Bit15: Reserved. Must be set to 0
.
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-129
P2-71■
CAP Absolute Position Homing
Address: 028EH
028FH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0x0
Control
Mode：
ALL
Unit：
N/A
Range：
0x0 ~ 0x1
Data Size：
16-bit
Format：
Hexadecimal
Settings： When P2-71 is set to 1, the current position will be set as home position.
This function is the same as the digital input, ABSC. This function can
be enabled only when parameter P2-08 is set to 271.
P2-72 Reserved
P2-73 ALOP E-Cam Alignment - Operation Setting
Address: 0292H
0293H
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0x00000000
Control
Mode：
PR
Unit：
N/A
Range：
0x00000000 ~ 0x5F3F6F5F
Data Size：
32-bit format = DCBA : UZYX
Format：
Hexadecimal
Settings：(This function is available in firmware version V1.038 sub26 and later
models)
YX: Range of filter (0 ~ 95%)
UZ: Max. allowable correction rate (0 ~ 100%)
BA: PR number (0 ~ 63)
DC: Masking range setting (0 ~ 95%)
YX: Range of filter (%)
When digital input, ALGN is triggered, E-Cam alignment function is
enabled. The system will detect the current E-Cam position. When
the error between current E-Cam position and the last alignment
position is less than this setting range (%), filter function is enabled
Chapter 8 Parameters ASDA-A2
8-130 Revision February, 2017
and the system will average the errors before correction to avoid
noise. If the error is bigger than filter threshold, the system will use
the new position to do the correction.
YX 00 01 ~ 05F
Function Disabled | Error | <= (1~YX) % : Enabled
*Using filter will allow the alignment action to be more stable and
reduce position error caused by digital input noise.
UZ: Max. Max. allowable correction rate (%)
When alignment correction is enabled, the limitation of max.
correction rate (C) for each correction is defined as follows:
| C | <= (P5-84/P5-83) x P2-73 UZ %
*When the alignment error is too big, to correct this error with one time
may cause the motor vibration or overloading. Using this parameter
will break the alignment correction into several smaller actions to
smooth the correction action. But it may need more time to finish the
alignment correction.
BA: PR number
After each alignment action is done, the shortage of pulse
numbers of slave axis will be stored in this specified PR. Using
this PR can compensate the slave position at appropriate timing.
*If BA is set to 0, it will not store the shortage of pulse numbers to
PR.
DC: Masking range setting (%)
When digital input, ALGN is triggered, no another alignment action
is allowed before the increasing pulse numbers of master axis
exceeds the masking distance (M). After the increasing pulse
numbers of master axis is greater than the distance (M) masking,
the next alignment action is allowed.
The masking distance (M) is defined as follows:
M >= (P5-84/P5-83) x P2-73 DC %
*This masking function only allows increasing pulse input. This function
will not work for decreasing pulse input.
P2-74 ALDY
E-Cam Alignment - DI Delay Time
Compensation
Address: 0294H
0295H
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0.000
Control
Mode：
PR
Unit：
ms with fraction down to usec
Range：
-25.000 ~ +25.000, with 3 fraction digits
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-131
Data Size：
16-bit
Format：
Decimal
Settings： (This function is available in firmware version V1.038 sub26 and later
models)
This parameter is used to set for the compensation of delay time from
digital input.
P2-75■
ALTG E-Cam Alignment - Alignment Target Position
Address: 0296H
0297H
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0
Control
Mode：
PR
Unit：
The pulse unit of Master axis
Range：
0 ~ (P5-84 /P5-83)-1
Data Size：
32-bit
Format：
Decimal
Settings： (This function is available in firmware version V1.038 sub26 and later
models)
Note: When the input value is over the setting range, an error will occur.
Then, the user cannot input the setting value.
Note: When a correct value is already set in P2-75 and does not
exceed the setting range, if a change on P5-84 or P5-83 cause
the value to exceed the setting range, this parameter will be reset
to 0 automatically.
New value of P2-75 = 0 if P2-75 >=(P5-84 /P5-83)
P2-76■
ALCT E-Cam Alignment - Source Setting
Address: 0298H
0299H
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0x0000
Control
Mode：
PR
Unit：
N/A
Range：
0x0000 ~ 0x6FF7
Data Size：
16-bit
Chapter 8 Parameters ASDA-A2
8-132 Revision February, 2017
Format：
Hexadecimal
Settings：(This function is available in firmware version V1.038 sub26 and later
models)
Format＝UZYX. The functions are listed below.
X: E-CAM Alignment Control
Bit Bit 3 Bit 2 Bit 1 Bit 0
Function Reserved Phase Alignment
Category
Trigger PR
immediately
Enable
Alignment
Description - Set 0 to disable the
function.
Set 1 to enable the
function.
This function is
applicable to film
delivery control of
reverse flying
shear.
Set 1 to enable. When
the alignment DI is
triggered, the
correcting error will be
calculated and stored
in PR specified by P2-
73. If this bit is set to
1, trigger the PR
immediately after DI
activated, otherwise
the user should trigger
the PR manually or
use P5-88.BA to call
the PR when E-Cam
disengaged.
Set 0 to disable.
Set 1 to enable.
If enable, the E-
CAM alignment
correction will
be executed
when DI.ALGN
ON.
Y: Filter intensity
Y 0 1 ~ F
Function Disabled Average of 2^Z: Enabled
When the value of Y is increased, the change of correction is getting
slow and it can expedite the performance of the filter function. This can
avoid the disturbance caused by a sensor noise and a big error to be
corrected within one time. Setting P2-76 too big will cause the
alignment not able to work properly. The recommendatory value is 3.
UZ: Alignment path definition. Forward direction as setting reference
here (0 ~ 100%)
0: Backward alignment only
30: Forward 30%, Backward 70%
50: Alignment with the shortest distance
80: Forward 80%, Backward 20%
>=100: Forward alignment only
P2-77■ CMSK E-Cam Master Axis – Pulse Masking Setting
Address: 029AH
029BH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0000h
Control
Mode：
PR
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-133
Unit：
N/A
Range：
0000h ~ 0xFF7D
Data Size：
16-bit
Format：
Hexadecimal
Settings：(This function is available in firmware version V1.038 sub54 and
later models)
X: Pulse masking function of master axis / JOG function of master axis
/ INCH function of master axis
Y: Correction of lead command length for pulse masking
Y3 Y2 Y1 Y0
-
Extra 1 Cycle Write to ROM CALC
- Calculate the value
of P5-87 and plus a
cycle of a resolution
of pulse command,
i.e. (P5-84/P5-83).
Calculate the value of P5-87
and write the value of P5-87
into EEPROM at the same time
to ensure the correct position of
E-Cam after the servo drive is
restarted (after switching power
off and on).
Calculate
the value of
P5-87.
Y=0 1: Calculate the value of P5-87 correctly according to actual
masking pulse number and additional virtual pulse number.
Y=0 2: Calculate the value of P5-87 correctly according to
actual masking pulse number and additional virtual pulse
number. Then, write the revised value of P5-87 into
EEPROM to keep the same phase after the servo drive is
restarted.
Y=0 7: Calculate the value of P5-87 correctly according to actual
masking pulse number and additional virtual pulse number.
But, the revised value of P5-87 will plus a value of (P5-84/P5-
83) to make lead pulse wait for an E-Cam cycle.
UZ: Pulse data when the master axis performs JOG or INCH
function
For example:
Start masking UZYX = 0x0001
JOG +3Kpps UZYX = 0x0302
JOG +20Kpps UZYX = 0x1402
JOG -32Kpps UZYX = 0x2003
INCH +255 PLS UZYX = 0xFF04
INCH -18 PLS UZYX = 0x1205
Complete and correct lead pulse UZYX = 0x0020 (Write into
EEPROM)
Disable this function UZYX = 0x0000 (This step can be ignored)
Chapter 8 Parameters ASDA-A2
8-134 Revision February, 2017
P2-78 CMAP
E-Cam: Area Number #2 + (Polarity is
Positive)
Address: 029CH
029DH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
270
Control
Mode：
PR
Unit：
degree (it becomes degree in firmware
version V1.038 sub25 and later models)
Range：
0 ~ 360
Data Size：
16-bit
Format：
Decimal
Settings：P2-78 <= P2-79:
E-Cam degree 0°
～
P2-78
～
P2-79
～
360°
DO:CAM_AREA2 OFF OFF ON ON ON OFF OFF
P2-78 > P2-79:
E-Cam degree 0°
～
P2-79
～
P2-78
～
360°
DO:CAM_AREA2 ON ON OFF OFF OFF ON ON
When the E-Cam is disengaged, the status of digital output,
CAM_AREA2 is always OFF.
P2-79 CMAP
E-Cam: Area Number #2 - (Polarity is
Negative)
Address: 029EH
029FH
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
360
Control
Mode：
PR
Unit：
degree (it becomes degree in firmware
version V1.038 sub25 and later models)
Range：
0 ~ 360
Data Size：
16-bit
Format：
Decimal
Settings：P2-78 <= P2-79:
E-Cam degree 0°
～
P2-78
～
P2-79
～
360°
DO:CAM_AREA2 OFF OFF ON ON ON OFF OFF
P2-78 > P2-79:
ASDA-A2 Chapter 8 Parameters
Revision February, 2017 8-135
E-Cam degree 0°
～
P2-79
～
P2-78
～
360°
DO:CAM_AREA2 ON ON OFF OFF OFF ON ON
When the E-Cam is not engaged, the status of digital output,
CAM_AREA2 is always OFF.
P2-80 Z Phase Source of Homing
Address: 02A0H
02A1H
Operational
Interface：
Panel / Software Communication
Related Section: N/A
Default：
0x0000
Control
Mode：
PR
Unit：
-
Range：
0x0000 ~ 0x0011
Data Size：
16-bit
Format：
Hexadecimal
Setting：
Z phase source of full-closed loop homing
0: Auxiliary encoder
1: Motor
Z phase source of half-closed loop homing
0: Motor
1: Auxiliary encoder
