Delta ASDA-A3 Series User Manual page 679

CANopen Mode
Operation steps:
1. Set OD 6060h to 01h to set the mode as the position control mode.
2. Set OD 607Ah for the target position (unit: PUU).
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3. Set OD 6081h for the speed command (unit: PUU/sec).
4. Set OD 6083h for the acceleration time slope (unit: ms).
5. Set OD 6084h for the deceleration time slope (unit: ms).
6. Set OD 6040h for the control command. Follow the steps below. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For the description of the state
machine, refer to the OD 6040h description in Section 12.4.
7. After completing the first motion command, set the target position, speed and other
conditions to execute the next motion command.
8. Set OD 6040h for the control command. Since the command is triggered by rising-edge
triggering, switch Bit 4 to Off first and then switch to On.
Read the servo drive information:
1. Read OD 6064h to obtain the current motor feedback position.
2. Read OD 6041h to obtain the servo drive status, including the following error, set-point
acknowledge, and target reached notification.
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Step Bit 4 Bit 3 Bit 2
6.1 0 0 1
6.2 0 0 1
6.3 0 1 1
6.4 1 1 1
Step Bit 4 Bit 3 Bit 2
9.1 0 1 1
9.2 1 1 1
Bit 1 Bit 0
1 0 Shutdown.
1 1 Switch on (ready for servo on).
1 1 Enable operation (servo on).
Command triggered (rising-edge
1 1
triggering).
Bit 1 Bit 0
1 1 Enable operation (servo on).
Command triggered (rising-edge
1 1
triggering).
Description
Description
ASDA-A3