Delta ASDA-A3 Series User Manual page 1007

CANopen Mode
Bit 12 - Bit 13
12
Bit 0 - Bit 6: current status of the servo drive.
Bit 6
0
1
0
0
0
0
0
0
Note: 0 indicates the bit is off, 1 indicates the bit is on, and - indicates the bit is invalid.
Bit 12 - Bit 13: current status of the servo drive.
Bit
Bit 12
Bit 13
Note: - indicates the bit is invalid.
Object 605Bh: Shutdown option code
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
Set to 0: when Servo Off, the dynamic brake has no effect, so the motor runs freely and the
machine stops only by friction.
Set to -1: when Servo Off, the servo stops with the operation of the dynamic brake.
Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
12-58
Bit
-
Bit 14 Positive limit
Bit 15 Negative limit
Bit 5 Bit 4 Bit 3 Bit 2
- - 0
- - 0
1 - 0
1 - 0
1 - 0
0 - 0
- - 1
- - 1
Profile Position
Homing mode
mode
Set-point
acknowledge
(servo received the
command signal)
Following error Homing error
605Bh
Shutdown option code
VAR
INTEGER16
RW
Yes
INTEGER16
0
Status
-
Positive limit
Negative limit
Bit 1 Bit 0
0 0 0 Not ready to switch on.
0 0 0 Switch on disabled.
0 0 1 Ready to switch on.
0 1 1 Switched on.
1 1 1 Operation enabled (Servo On).
1 1 1 Quick stop active.
1 1 1 Fault reaction active.
0 0 0 Servo fault (servo switches to Servo Off).
Definition in each operation mode
Interpolated
Position mode
Homing is Interpolation
complete in operation
-
Description
These bits are individually
defined according to the
operation mode, as shown in
the following table.
-
-
Description
Profile Velocity Profile Torque
mode mode
Zero speed -
- -
ASDA-A3