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ASDA-A3

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Parameters

Methods to write parameters to EEPROM (non-volatile):

SDO: parameters are stored in EEPROM when written.

PDO: refer to the setting of P3.011.X. (X = 1: when written through PDOs, parameters are stored in

EEPROM; X = 0: when written through PDOs, parameters are not stored in EEPROM.)

Note:

1. When the function of OD 1010h (Store parameters) is enabled, the CANopen OD value is stored in non-volatile

memory. When P3.012.Z = 0, the non-volatile value of CANopen OD is loaded as the initial content. Refer to the

descriptions in CANopen Standard. When P3.012.Z = 1, the initial content refers to the preceding table.

2. Rotary means a permanent-magnet synchronous rotary motor; linear means a permanent-magnet synchronous

linear motor.

 U: error clearing when the limit alarm occurs

0: when the limit alarm (AL014 or AL015) occurs, it needs to be cleared before the servo

reverses to move away from the limit.

1: when the limit alarm (AL014 or AL015) occurs, it does not need to be cleared before the servo

reverses to move away from the limit.

Note: determine whether the servo has reached the limit with the bit status of OD 6041h Statusword and OD 60FDh

Digital inputs.

Positive limit: OD 6041h [Bit 14] is On & OD 60FDh [Bit 1] is On

Negative limit: OD 6041h [Bit 15] is On & OD 60FDh [Bit 0] is On

The status of other bits of OD 6041h (Fault / Warning / Quick stop) remains unchanged when the servo reaches the

limit.

8

P3.013

Controller’s full-closed loop feedback source

Address: 031AH

031BH

Default: 0x0000

Control mode: PR* (full-closed loop)

Unit: -

Setting range: 0x0000 - 0x0022

Format: HEX

Data size: 16-bit

Settings:

UZ YX

X

Encoder feedback source in full-closed loop

control

Z Reserved

Y

Z phase offset source in full-closed loop

mode

U Reserved

 X: encoder feedback source in full-closed loop control (the source displayed in the Feedback

position [PUU])

0: motor encoder feedback

1: auxiliary encoder feedback

2: in semi-closed loop control, it is the motor encoder feedback; in full-closed loop control, it is the

auxiliary encoder feedback.

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