Delta ASDA-A3 Series User Manual page 715

CANopen Mode
Object 6061h: Modes of operation display
Index
Name
12
Object code
Data format
Access
PDO mapping
Setting range
Default
Object function:
This object displays the current operation mode.
Object 6062h: Position demand value
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
This command position is the interpolation command calculated by the servo internal
interpolator. This command passes through the servo internal filter. For detailed position,
refer to the servo architecture diagram of each mode.
Object 6063h: Position actual internal value
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
12-54
6061h
Modes of operation display
VAR
INTEGER8
RW
Yes
INTEGER8
0
6062h
Position demand value
VAR
INTEGER32
RO
Yes
INTEGER32
0
PUU
6063h
Position actual internal value
VAR
INTEGER32
RO
Yes
INTEGER32
0
Pulse (unit for encoder pulse resolution)
ASDA-A2 corresponds to 1280000 pulses per motor
rotation.
ASDA-A3 corresponds to 16777216 pulses per motor
rotation.
ASDA-A3