Delta ASDA-A3 Series User Manual page 1139

EtherCAT Mode
OD 60FEh sub2 Bit mask
13
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Object 60FFh: Target velocity
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Unit
Object function:
This object sets the target velocity. This object only works in Profile Velocity mode and Cyclic
Synchronous Velocity mode.
13-94
Bit DO
0 - 15 -
16 DO1
17 DO2
18 DO3
19 DO4
20 - 31 -
To use the software to control the DO output, you must first set the corresponding DO
function code.
When P2.018 = 0x0130, the output of DO1 is controlled by the software.
When P2.019 = 0x0131, the output of DO2 is controlled by the software.
When P2.020 = 0x0132, the output of DO3 is controlled by the software.
When P2.021 = 0x0133, the output of DO4 is controlled by the software.
DO output settings
When the corresponding OD 60FEh sub2 bit of the DO is set to 1, the output status of
this DO is determined by the corresponding bit of OD 60FEh sub1.
When the corresponding OD 60FEh sub2 bit of the DO is set to 0, the output status of
this DO is determined by P4.006.
Example
1. Set P2.018 to 0x0130, which means the output of DO1 is controlled by the
software.
2. When OD 60FEh sub2 [Bit 16] is 1, the output of DO1 is determined by 0x60FE
sub1 [Bit 16]. When OD 60FEh sub2 [Bit 16] is 0, the output of DO1 is determined
by P4.006 [Bit 0].
60FFh
Target velocity
VAR
INTEGER32
RW
Yes
INTEGER32
0
0.1 rpm
Description
Reserved
0: disable physical outputs; 1: enable
0: disable physical outputs; 1: enable
0: disable physical outputs; 1: enable
0: disable physical outputs; 1: enable
Reserved
ASDA-A3