Od 6Xxxh Communication Object Group - Delta ASDA-A3 Series User Manual

ASDA-A3

12.4.3.3 OD 6XXXh communication object group

Object 603Fh: Error code (error code of CANopen defined)
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Corresponding servo
parameter
Default
Object 6040h: Controlword
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Corresponding servo
parameter
Default
Object function:
The control command contains many functions, such as Servo on, command triggering,
fault reset, and emergency stop. The state machine architecture is as follows:
603Fh
Error code
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
N/A
0
6040h
Controlword
VAR
UNSIGNED16
RW
Yes
UNSIGNED16
N/A
0x0004
ControlWord (6040h)
State Machine
StatusWord (6041h)
CANopen Mode
12
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