Delta ASDA-A3 Series User Manual page 681

CANopen Mode
 When Bit 5 is set to 1, the command to take immediate effect is enabled (only valid in
Profile Position Mode).
If the command to take immediate effect is enabled, when the current motion command is in
12
execution (not yet complete), the servo immediately interrupts the current command and
executes the new command once the servo receives a new triggered command.
Target
position
(607Ah)
Command
triggered
(6040h bit 4)
Velocity
actual value
(606Ch)
Execute
position
Set-point
acknowledge
(6041h bit 12)
Target
reached
(6041h bit 10)
Relevant object list
Index
6040h
6041h
6060h
6061h
6062h
6063h
6064h
6065h
6067h
6068h
607Ah
6081h
6083h
6084h
6093h
60F4h
60FCh
Note: for more details, refer to Section 12.4.3 Details of objects.
12-20
Position
20000 PUU
1
0
Speed 60000 PUU/s
current
1
0
1
0
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position demand value [PUU]
Position actual internal value
Position actual value
Following error window
Position window
Position window time
Target position
Profile velocity
Profile acceleration
Profile deceleration
Position factor
Following error actual value
Position demand value
50000 PUU
30000 PUU/s
Type
UNSIGNED16
UNSIGNED16
INTEGER8
INTEGER8
INTEGER32
INTEGER32
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED16
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
INTEGER32
INTEGER32
ASDA-A3
Time
Attr.
RW
RO
RW
RO
RO
RO
RO
RW
RW
RW
RW
RW
RW
RW
RW
RO
RO