Delta ASDA-A3 Series User Manual page 683

CANopen Mode
Operation steps:
1. Set OD 6060h to 07h to set the mode as Interpolation Position Mode.
2. Set OD 60C2h for the interpolation cycle. The setting must be the same as the
12
communication cycle of OD 1006h.
3. In the PDO mapping setting of the controller, configure one set of RxPDO to be
OD 60C1h sub1 and OD 60C1h sub2
4. In the PDO mapping setting of the controller, configure the objects to be monitored in
TxPDO according to the requirements, such as the feedback position (OD 6064h).
5. 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 more details of the state
machine, refer to Section 12.2.2.6.
Servo On
Servo internal
interpolation position
12-22
Step Bit 4 Bit 3 Bit 2
6.1 0 0
6.2 0 0
6.3 0 1
SYNC
OD 6040h Bit1
& OD 6040h Bit2
OD 6040h Bit0
OD 6040h Bit3
OD 6041h Bit12
Interpolation mode
in motion
OD 60C1h sub1
Interpolation
position
Bit 1 Bit 0
1 1 0 Shutdown
1 1 1 Switch on (ready for servo on).
1 1 1 Enable operation (servo on).
Max.
3 ms
Description
ASDA-A3
Time