Delta ASDA-A3 Series User Manual page 1004

ASDA-A3
Object function:
The Controlword contains many functions, such as Servo On, command triggering, fault reset,
and quick stop.
The state machine architecture is as follows:
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4 - Bit 6
Bit 7
Bit 8
Bit 9 - Bit 15
Bits 4 - 6 are individually defined according to the operation mode, as shown in the following
table:
Bit
Profile Position mode
Command triggering
Bit 4
(rising-edge triggered)
Function for the command to take
Bit 5
0: absolute position command
Bit 6
1: relative position command
Note: - indicates the bit is invalid.
Function
Switch on
Enable voltage
Quick stop (B contact (NC))
Enable operation
Defined in each operation mode
Fault reset
Halt
Reserved
Definition in each operation mode
immediate effect
Ready for Servo On.
-
-
Servo On.
These bits are individually defined
according to the operation mode,
as shown in the following table.
-
-
-
Homing mode
Homing
(rising-edge triggered)
-
-
CANopen Mode
Description
Profile Velocity mode
Profile Torque mode
Interpolated Position mode
-
-
-
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