Chapter 8 Parameters ASDA-A2

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P3-xx Communication Parameters

P3-00●

ADR Address Setting

Address: 0300H

0301H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

0x7F

Control

Mode：

ALL

Unit：

Range：

0x01 ~ 0x7F

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The communication address setting is divided into Y, X (hexadecimal):

0 0 Y X

Range

－－

0 ~ 7 0 ~ F

When using RS-232/RS-485 to communicate, one servo drive can only

set one address. The duplicate address setting will cause abnormal

communication.

This address represents the absolute address of the servo drive in

communication network. It is also applicable to RS-232, RS-485,

CANopen and DMCENT.

When the communication address setting of MODBUS is set to 0xFF,

the servo drive will automatically reply and receive data regardless of

the address. However, P3-00 cannot be set to 0xFF.

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P3-01 BRT Transmission Speed

Address: 0302H

0303H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

0x0203

Control

Mode：

ALL

Unit：

bps

Range：

0x0000 ~ 0x0405

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The setting of transmission speed is divided into Z, Y, X (hexadecimal):

U Z Y X

Communication

Port

DMC CAN / DMC

－

RS-232/485

Range 0 / 3 0~4 0 0~5

 Definition of X setting value

0: 4800

1: 9600

2: 19200

3: 38400

4: 57600

5: 115200

 Definition of Z setting value

0: 125 Kbit/s

1: 250 Kbit/s

2: 500 Kbit/s

3: 750 Kbit/s

4: 1.0 Mbit/s

 Definition of Z setting value

0: Use Delta’s controller, such as PLC and HMI

3: Use Delta’s motion card

NOTE

1）If this parameter is set via CAN, only Z can be set and the others

remain.

2）The communication speed of USB is 1.0 Mbit/s only and is

unchangeable.

Chapter 8 Parameters ASDA-A2

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P3-02 PTL Communication Protocol

Address: 0304H

0305H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

Range：

0 ~ 0x8

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The definition of the setting value is as the followings:

0: 7, N, 2 (MODBUS, ASCII)

1: 7, E, 1 (MODBUS, ASCII)

2: 7, O,1 (MODBUS, ASCII)

3: 8, N, 2 (MODBUS, ASCII)

4: 8, E, 1 (MODBUS, ASCII)

5: 8, O, 1 (MODBUS, ASCII)

6: 8, N, 2 (MODBUS, RTU)

7: 8, E, 1 (MODBUS, RTU)

8: 8, O, 1 (MODBUS, RTU)

P3-03 FLT Communication Error Disposal

Address: 0306H

0307H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

Range：

0 ~ 0x1

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The definition of the setting value is as the following:

0: Warning and keeps running

1: Warning and stops deceleration (The deceleration time is set to

parameter P5-03.B)

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Revision February, 2017 8-139

P3-04 CWD Communication Timeout

Address: 0308H

0309H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

sec

Range：

0 ~ 20

Data Size：

16-bit

Format：

DEC

Settings：

If the setting value is not 0, enable communication timeout

immediately. If it is set to 0, disable the function.

P3-05 CMM Communication Mechanism

Address: 030AH

030BH

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

Range：

0x00 ~ 0x01

Data Size：

16-bit

Format：

Hexadecimal

Settings：

Communication port can select one or more than one communications.

 Communication Interface

0: RS232

1: RS485

Chapter 8 Parameters ASDA-A2

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P3-06■

SDI Control Switch of Digital Input (DI)

Address: 030CH

030DH

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

Range：

0x0000 ~ 0x3FFF

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The source of DI controls the switch.

Each bit of this parameter decides one input source of DI signal:

Bit0 ~ Bit7 correspond to DI1 ~ DI8.

Bit8 ~ Bit13 correspond to extended DI EDI9 ~ EDI14;

The setting of bit is as the followings:

0: The input status is controlled by the external hardware.

1: The input status is controlled by P4-07.

For the functional planning of digital input, please refer to:

DI1 ~ DI8: P2-10 ~ P2-17

EDI9 ~ EDI14: P2-36 ~ P2-41

P3-07 CDT Communication Response Delay Time

Address: 030EH

030FH

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

Control

Mode：

ALL

Unit：

1ms

Range：

0 ~ 1000

Data Size：

16-bit

Format：

Decimal

Settings：

Delay the time of communication response from servo drive to

controller

ASDA-A2 Chapter 8 Parameters

Revision February, 2017 8-141

P3-08■

MNS Monitor Mode

Address: 0310H

0311H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

0000

Control

Mode：

ALL

Unit：

Range：

Shown as below

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The setting of monitor mode is divided into L and H. (hexadecimal):

Item

－－

L H

Function

－－

Low-speed monitoring

time

Monitor Mode

Range 0 0 0 ~ F 0 ~ 3

The status of this axis or multi-axis can be monitored by USB. The

definition of setting value is as follows:

 The definition of H setting value

3: USB is high-speed monitor. The sampling frequency is 16K and

can only monitor 2CH.

2: USB is high-speed monitor. The sampling frequency is 8K and

can monitor 4CH.

1: USB is low-speed monitor. The sampling time is set by L and

can monitor 4CH.

0: disable the monitor function

 L: the sampling time of USB low-speed monitor. Its unit is ms.

It means the axial status will be set via USB every L ms. So the

controller can monitor the axial status. Each monitoring message

includes 4 CH data (16 bit x 4). If L is set to 0, this function is

disabled. L is enabled when H is set to 1.

Chapter 8 Parameters ASDA-A2

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P3-09 SYC CANopen / DMCNET Synchronize Setting

Address: 0312H

0313H

Operational

Interface：

Panel / Software Communication

Related Section:

9.2

Default：

0x5055 (for -B, -L, -M, -U type)

0x3511 (for -F type)

Control

Mode：

CANopen / DMCNET

Unit：

Range：

Shown as below

Data Size：

16-bit

Format：

Hexadecimal

Settings：

The synchronous setting of CANopen / DMCNET is divided into E, T, D

and M (hexadecimal):

Item E T D M

Function

Range of

Synchronous

error

Target Value Deadband

Adjusting

amount

Range 1 ~ 9 0 ~ 9 0 ~ F 1 ~ F

The slave of CANopen / DMCNET synchronizes with the master via

SYNC. See as the followings:

M: If the slave needs to synchronize with the master, correct the clock

is a must. This parameter sets the maximum correction value per

time. (Unit: usec)

D: Set the size of deadband (Unite: usec). If the deviation between the

SYNC reaching time and the target value does not exceed the

deadband, correction is no need.

T: SYNC arrival time. The standard value is 500usec but it might be

different from the target value. Thus, the buffer is necessary.

Target value＝400 + 10 x T.

For instance, if T=5, the target value will be 450.

E: If the deviation between SYNC reaching time and the target value is

smaller than the range, it means the synchronization is successful.

(Unit: 10 usec)

ASDA-A2 Chapter 8 Parameters

Revision February, 2017 8-143

P3-10 CANEN CANopen / DMCNET Protocol Setting

Address: 0314H

0315H

Operational

Interface：

Panel / Software Communication

Related Section:

Section 9.2

Default：

0x0000

Control

Mode：

CANopen / DMCNET

Unit：

Range：

Shown as below

Data Size：

16-bit

Format：

Hexadecimal

Settings：

CANopen / DMCNET synchronization setting is divided into X, Y, Z, U

(hexadecimal):

Item U Z Y X

Function

If PDO alarm

will be cleared

automatically

Reserved

If motor will

servo off

when CAN

Bus /

DMCNET

error occurs

Reserved

Range 0 ~ 1 0 ~ F 0 ~ 1 0 ~ 1

Definition:

X: Reserved

Y: 0: The motor keeps running when communication error occurs;

1: The motor servo Off when communication error occurs.

Z: Reserved

U: 0: If PDO error occurs, it must be cleared by Alarm Rest

1: If PDO error occurs, it will be cleared automatically.

Note:

For A2-M, X bit is invalid.

For A2-F, it is suggested to set X to 1.

Chapter 8 Parameters ASDA-A2

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P3-11 CANOP CANopen / DMCNET Selection

Address: 0316H

0317H

Operational

Interface：

Panel / Software Communication

Related Section:

Section 9.2

Default：

0x0000

Control

Mode：

CANopen / DMCNET

Unit：

Range：

Shown as below

Data Size：

16-bit

Format：

Hexadecimal

Settings：

Synchronous / DMCNET setting of CANopen is divided into X, Y, Z and

U (hexadecimal):

Item U Z Y X

Function Undefined Undefined Undefined

Whether the

parameter is saved

into EEPROM

Range -0 ~ 1 0 ~ F 0 ~ F 0 ~ 1

The definition is as follows:

X = 1: When writing parameters via PDO, parameters will be saved in

EEPROM.

X = 0: When writing parameters via PDO, parameters will not be saved

in EEPROM.

Y, Z, U : Undefined

If X is set to 1 and write parameters by PDO continuously, it will

shorten the lifetime of EEPROM.

P3-12 QSTPO CANopen / DMCNET Support Setting

Address: 0318H

0319H

Operational

Interface：

Panel / Software Communication

Related Section:

Section 9.2

Default：

0x0000

Control

Mode：

CANopen / DMCNET

Unit：

Range：

0x0000 ~ 0x0111

Data Size：

16-bit

Format：

Hexadecimal

NOTE

ASDA-A2 Chapter 8 Parameters

Revision February, 2017 8-145

Settings：

CANopen / DMCNET synchronization setting is divided into X, Y, Z, U

(hexadecimal):

Item U Z Y X

Function None

CANopen /

DMCNET

value will be

loaded in

If the motor will enter

Quick Stop mode

when in auto

protection.

If OD-6040

supports

Quick Stop

Range None 0~1 0 ~ 1 0 ~ 1

Aiming to CANopen Quick Stop mode, we have X and Y setting

(Hexadecimal.) which is showed as below. It is only suitable in CAN

mode: oxb mode selection (P1-01 = b).

X: Trigger Servo ON sequence and Quick Stop support setting

X = 0: Servo On the servo drive by turning On OD-6040 Bit 3 (Enable

Operation). OD-6040 Bit 2 enters Quick Stop mode is not

supported.

X = 1: The servo drive can be Servo ON only when OD-6040 Bit 0, Bit

1, Bit 3 are ON. And will enter Quick Stop mode via OD-6040 Bit

2 (Quick Stop)

Y: When warning alarms (positive / negative limit, communication error,

under voltage, abnormal fan) occur, it can determine if Quick Stop

mode can be triggered.

Y = 0: When warning alarms occur, if motor decelerates to stop

because of auto protection function, it will not enter Quick Stop

mode. Users only need to troubleshoot the alarm and clear the

alarm message from the servo drive, the servo drive status will

resume.

Y = 1: When warning alarms occur, if motor decelerates to stop

because of auto protection function, OD-6040 will enter Quick

Stop mode. Users have to issue Fault Reset to continue other

commands and clear the alarm message from the servo drive.

The following table shows P parameters and its corresponding

CANopen OD or DMCNET parameter. The setting of Z (Hexadecimal.)

can determine if it should be modified. This function is applicable in

CAN mode: 0xB or 0xC (P1-01 = b or c) or DMC mode: 0xB (P1-01 =

b).

Z: Determine if the value of OBJECT will overlap parameters from P

groups.

Z = 0: When re-servo on the servo drive or reset the communiation, P

parameters that mentioned in the following table will load in the

default value in CANopen /DMCNET mode.

Z = 1: When re-servo on the servo drive or reset the communiation, P

parameters that mentioned in the following table will keep the value

that before power off.

CANopen mode:

Related variables

during initialization

P3-12.Z = 0 P3-12.Z = 1 Note

P1-32

0x0010 EEPROM

P2-35

3840000

EEPROM

Chapter 8 Parameters ASDA-A2

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P1-47 10 EEPROM

P1-49 0 EEPROM

P1-38 100 EEPROM

Home offset

0 EEPROM Used in HM

mode

P1-44

EEPROM

P1-45

EEPROM

DMCNET mode:

Related variables

during initialization

P3-12.Z = 0 P3-12.Z = 1 Note

P1-32

0x0010 EEPROM

P2-35

3840000

EEPROM

P1-47

100 EEPROM

P1-49

0 EEPROM

P1-38

100 EEPROM

Home offset

0 Undefined Used in HM

mode

Acc

200 Undefined Used in PV, PP

mode

Dec

200 Undefined Used in PV, PP

mode

P1-44

1 EEPROM

P1-45

1 EEPROM

Methods that save parameters in EEPROM (even when the power is

off):

SDO: When setting parmeters, parameters will be stored in EEPROM.

PDO: Please refer to the setting of P3-11.X

X = 1: When setting parameters via PDO, parameters will be stored in

EEPROM.

X = 0: When setting parameters via PDO, parameters will not be stored

in EEPROM.

Note: In CANopen mode, when using the funciton of OD 1010 Store

Parameter and P3-12.Z = 0, the default value will be different from the value

that showed above. Please refer to CANopen Standard for further information.