Delta ASDA-A3 Series User Manual page 717

CANopen Mode
Object function:
When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h)
and the position actual value (OD 6064h) is smaller than this object, and the time is greater
12
than OD 6068h (position window time), Bit10 (target reached) of 6041h Statusword is output.
Position not reached
Statusword target reached (6041h)
Object 6068h: Position window time
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h) and
the feedback position (OD 6064h) is smaller than this object, and the time is greater than
OD 6068h (position arrival time), Bit10 of Statusword 6041h outputs once the target is reached.
12-56
Position window
Position window (6067h)
Position window time (6068h)
6068h
Position window time
VAR
UNSIGNED16
RW
Yes
UNSIGNED16
0
ms
Accepted position range
Position window
Position reached
Target position
Window
comparator
comparator
Position not reached
PP mode
Target position (607Ah)
IP mode
Interpolation data record
(60C1h)
+
Position
window
-
Position actual value (6064h)
ASDA-A3
Position