Delta ASDA-A3 Series User Manual page 719

CANopen Mode
Object 606Dh: Velocity window
Index
Name
12
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
The speed comparator compares the speed error with OD 606Dh (velocity window).
When the error is less than the velocity window and the retaining time is greater than
OD 606Eh (velocity window time), then OD 6041h Bit10 (target reached) is output.
This object only works in Profile Velocity Mode.
Velocity window (606Dh)
Velocity window time (606Eh)
Statusword Bit10
Target reached (6041h)
Object 606Eh: Velocity window time
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
Refer to OD 606Dh for the description of the object.
12-58
606Dh
Velocity window
VAR
INTEGER16
RO
Yes
0 - 3000
100
0.1 rpm
Position
Speed
window
comparator
comparator
606Eh
Velocity window time
VAR
UNSIGNED16
RW
Yes
UNSIGNED16
0
ms
ASDA-A3
Velocity demand value
(606Bh)
+
-
Velocity actual value
(606Ch)