Od 6Xxxh Communication Object Group - Delta ASDA-A3 Series User Manual

ASDA-A3

13.4.3.3 OD 6XXXh communication object group

Object 603Fh: Error code (CANopen defined)
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object 6040h: Controlword
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
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:
15 14
Bit
Bit
Bit 0
Bit 1
Bit 2
Bit 3
603Fh
Error code
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
0
6040h
Controlword
VAR
UNSIGNED16
RW
Yes
UNSIGNED16
0x0004
13 12 11 10 9
Function
Switch on
Enable voltage
Quick stop (B contact (NC))
Enable operation
8 4
7 6 5
Ready for Servo On.
-
-
Servo On.
EtherCAT Mode
3 2 1 0
Description
13
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