Delta ASDA-A3 Series User Manual page 711

CANopen Mode
15
Bit
12
Bit 4 - Bit 6
Bit 15 - Bit 9
Bits 4 - 6 are individually defined according to the mode, as shown in the following table:
Bit
Bit 4
Bit 5
Bit 6
Finite state automation (as shown in the following diagram) defines the behavior of a servo
drive system. Each state represents an internal or external behavior. For example,
point-to-point motion can only be received and executed in the operation enabled state.
12-50
12 11
14 13
Bit
Bit 0
Bit 1
Bit 2 Quick stop (B-connect)
Bit 3
Operation mode definition
Bit 7
Bit 8
Profile Position Mode
Command triggered
(rising-edge triggering)
Command to take
immediate effect
0: absolute position
command
1: relative position
command
10
12
16
Quick Stop
11
10 9 8 7 6
Function
Switch on
Enable voltage
Enable operation
Fault reset
Halt
-
Operation mode definition
Homing Mode
Homing
(rising-edge triggering)
-
-
Start
0, 1
Switch On
disabled
2
7
Ready to
switch on
3
6
8
Switch on
4
5
Operation
Enbled
4
5 3 2 1
Description
-
-
-
-
This bit is individually defined
according to the control mode,
as shown in the following table.
-
-
-
Profile Velocity Mode
Profile Torque Mode
Interpolated Position Mode
-
-
-
15
Fault
9
13, 14
ASDA-A3
0