Delta ASDA-A3 Series User Manual page 744

ASDA-A3
Object 60FFh: Target velocity
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Unit
Object function:
This object sets the target speed. This object is only available in Profile Velocity Mode.
Object 6502h: Supported drive modes
Index
Name
Object code
Data format
Access
PDO mapping
Setting range
Default
Object function:
This object is read-only and provides the control modes supported by Delta servo drives in
CANopen mode (OD 6502h = 6Dh).
31 30
Bit
15 14
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 31 - Bit 7
60FFh
Target velocity
VAR
INTEGER32
RW
Yes
INTEGER32
0
0.1 rpm
6502h
Supported drive modes
VAR
UNSIGNED32
RO
Yes
UNSIGNED32
6D
h
29 28 27 26
12
13 11 10
Bit
25 24 23 22 21
9 8 7 6 5
Function
Profile Position Mode
-
Profile Velocity Mode
Profile Torque Mode
-
Homing Mode
Interpolation Position Mode
Reserved
CANopen Mode
20 19 18 17 16
4 3 2 1 0
12
12-83