Delta ASDA-A3 Series User Manual page 712

ASDA-A3
The state transition is defined as follows:
Transition
0, 1
2
3
4
5
6
7
8
9
10
11
12
13, 14
15
16
State changes can be achieved with control commands. The commands are as follows:
Setting value
Shutdown
Switch on
Switch on +
Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Event
Automatic transition after power-on
Command shutdown
Command switch on
Command enable operation
Command disable voltage
Command shutdown
Command disable voltage or
command quick stop
Command shutdown
Command disable voltage
Command disable voltage or
command quick stop
Command quick stop
The following two errors belong to this
quick stop type:
Trigger forward / reverse limit
1.
switch
Quick stop triggered by a control
2.
command (OD 6040h = xxxx
x0xxx)
Command disable voltage
(OD 6040h: 0000 0110 or xxxx xx0x)
Alarm occurs
Alarm is cleared
Command enable operation and no
alarm
Bit of OD 6040h
Bit 7 Bit 3
0 X
0 0
0 1
0 X
0 X
0 0
0 1
X
Device boot and initialization
N/A
Servo is ready for servo on
Servo on and executes motion mode
Servo off
N/A
N/A
Servo off
Servo off
N/A
Quick stop function is enabled
Servo off
Servo off
N/A
Motion operation restart.
The restart action is mode-dependent.
Bit 2 Bit 1 Bit 0
1 1 0
1 1 1
1 1 1
X 0 X
0 1 X
1 1 1
1 1 1
X X X
CANopen Mode
Action
State change
2, 6, 8
3
3 + 4
7, 9, 10, 12
7, 10, 11
5
4, 16
15
12
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