Chapter 7 Motion Control ASDA-A2
Revision February, 2017 7-7
Code
Name of Variables /
Attribute
Description
091
(5Bh)
The feedback of
indexing coordinate
The immediate feedback position of indexing coordinates.
The unit is PUU (user unit).
096
(60h)
Firmware version
Dec
It includes two versions, DSP and CPLD.
When monitoring via panel, pressing the SHF Key can
switch the display of both:
DSP shows no decimal point while CPLD shows one.
When reading through communication (parameter
mapping):
Low-16 Bit (Low WORD) returns DSP version number.
High-16 Bit (High WORD) returns CPLD version number.
098
(62h)
PLC scan time The update time of DI/DO. The unit is 0.5 msec.
109
(6Dh)
The amount of data
array
Returns the amount of data array. The unit is DWORD (32
Bits)
111
(6Fh)
Error code of the servo
drive
Error code of the servo drive: only for the control loop, not
including the motion controller.
112
(70h)
CANopen SYNC TS
(hasn’t been through
the filter)
The time the servo drive receives SYNC signal
(TimeStamp)
The unit is usec.
113
(71h)
CANopen SYNC TS
(has been through the
filter)
The time the servo drive receives SYNC signal and has
been through the filter. The unit is usec.
114
(72h)
CANopen
timing synchronization
To synchronize the device timing with the controller during
the operation. The unit is usec.
116
(74h)
The differential
between position and
Z phase of auxiliary
encoder (pulse)
The differential between the current position and Z phase
position of auxiliary encoder
(It is applicable to A2-F)
120
(78h)
DMCNET connection
status
DMCNET connection status (It is applicable to A2-F, A2-N)
121
(79h)
The PDO packet of
DMCNET is lost
during transmission
Accumulative number of the lost DMCNET PDO packet (It
is applicable to A2-F, A2-N)
Format: chAchB | chB | chA
For example, 459010 = 0x070102 chAchB　
error
= 7,
chB
error
= 1, chA
error
= 2
123
(7Bh)
The returned value
when monitoring via
panel
The returned value when monitoring via panel
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