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Parameters

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ASDA-A3

8

 Y: Z phase offset source in full-closed loop mode

0: motor

1: auxiliary encoder

2: in semi-closed loop control, it is the motor’s Z phase offset; in full-closed loop control, it is the

auxiliary encoder’s Z phase offset.

Note:

1. This parameter setting is different from P1.074.Y (switch between motor encoder and auxiliary encoder). This

parameter only modifies the feedback signal source uploaded to the controller. It is suggested that you set

P3.013 to 0x0022 to avoid misoperation when the motor is in the Servo On state.

2. PR full-closed loop function is not yet supported.

P3.014 -

P3.016

Reserved

P3.017

CANopen B mode disconnection delay time

Address: 0322H

0323H

Default: 1000

Control mode: CANopen

Unit: ms

Setting range: 1 to 1000

Format: DEC

Data size: 16-bit

Settings:

If the communication disconnection time exceeds this set value when in the PV (Profile Velocity), PT

(Profile Torque), or HM (Homing Mode) mode of CANopen B mode, the system issues AL303.

P3.018

EtherCAT special function switch

Address: 0324H

0325H

Default: 0x00002000

Control mode: EtherCAT

Unit: -

Setting range: 0x00000000 - 0x01112211

Format: HEX

Data size: 32-bit

Settings:

High word

Low word

DCB A

UZ YX

Source setting for the content loaded to the

A EtherCAT Station Alias Register 0x0012

after the servo drive is powered on

Unit selection for Target velocity (OD

60FFh) and Velocity actual value (OD

X 606Ch) when in the PV (Profile

Velocity) mode or CSV (Cyclic

Synchronous Velocity) mode

B Reserved

Y Reserved

C

Unit selection for the maximum speed of OD

607Fh and OD 6080h

Z

AL185 communication disconnection

detection setting

D Reserved

U Reserved

8-148

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