Delta ASDA-A3 Series User Manual page 680

ASDA-A3
Command to take immediate effect
In the position control mode, set the command to take effect immediately or not with Bit 5.
 When Bit 5 is set to 0, the command to take immediate effect is disabled.
If the command to take immediate effect is not enabled, when the current motion command is in
execution (not yet complete), the servo continues to execute the current motion command even
if a new command is triggered. The new command is only acknowledged and executed after the
current command is executed.
Position
Target
position
(607Ah)
Command
triggered
(6040h bit 4)
Velocity
actual value
(606Ch)
Execute
current
position
Set-point
acknowledge
(6041h bit 12)
Target reached
(6041h bit 10)
20000 PUU
1
0
60000 PUU/s
Speed
20000 PUU
1
0
1
0
50000 PUU
50000 PUU
CANopen Mode
30000 PUU/s
12
Time
12-19