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Parameters

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ASDA-A3

8

P3.007

Modbus communication response delay time

Address: 030EH

030FH

Default: 1

Control mode: All

Unit: 0.5 ms

Setting range: 0 to 1000

Format: DEC

Data size: 16-bit

Settings:

Delays the time of communication response from servo drive to controller.

P3.008

Reserved

P3.009

Communication synchronization

Address: 0312H

0313H

Default: 0x5055

Control mode: CANopen / EtherCAT

Unit: -

Setting range: Shown as follows

Format: HEX

Data size: 16-bit

Settings:

The synchronous setting is divided into U, Z, Y, and X (hexadecimal):

Digit

Function

Range

U

Range of

synchronous error

(CANopen)

1 to 9

Z

Target value

(EtherCAT)

M, F, L: 0 to F

E: 0 to A

Y

Deadband

(CANopen)

0 to F

X

Reserved

-

The slave synchronizes with the master via SYNC. The definition is as follows:

 Y: sets the size of deadband (unit: μsec). If the deviation between the SYNC arrival time and the

target value does not exceed the deadband, a correction is not needed.

 Z: when the servo is operating in the DC-Synchronous mode, you can adjust the timing of the

servo accessing EtherCAT packets to ensure that this timing is not in conflict with the timing of

the controller sending the packets. The delay time in the following figure is (T/10) x Z (μs).

Sync0

Sync0

Sync0

Slave

delay

Cycle time (T) SM2 event

Slave App

delay

Cycle time (T) SM2 event

Slave App

 U: if the deviation between the SYNC arrival time and the target value is smaller than the range, it

means the synchronization is successful (unit: 10 μs).

8-144

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