Delta ASDA-A3 Series User Manual page 19

11.3.2 Linear motor direction setting ·································································· 11-29
11.4 Linear encoder ························································································· 11-30
11.5 Hall sensor ······························································································ 11-31
11.5.1 Installing the Hall sensor ········································································ 11-32
11.5.2 Checking the Hall sensor phase sequence ················································· 11-33
11.6 Position signal converter box ······································································· 11-34
11.6.1 Specifications of position signal converter box ············································· 11-34
11.6.2 Interface of position signal converter box ··················································· 11-35
11.6.3 Pin assignment of position signal converter box ··········································· 11-36
11.7 Linear motor parameter setting ······································································ 11-37
11.7.1 Total weight (mover + load) ····································································· 11-37
11.7.2 E-Gear ratio ························································································· 11-37
11.7.3 Limit setting ························································································· 11-37
11.7.4 Current setting for initial magnetic field detection ········································· 11-38
11.7.5 Overload gain ······················································································ 11-39
12
CANopen Mode
12.1 Basic configuration ······················································································· 12-2
12.1.1 Supported functions ················································································ 12-2
12.1.2 Hardware configuration ············································································ 12-3
12.1.3 Parameter settings in CANopen mode ························································ 12-4
12.2 Communication specification ··········································································· 12-5
12.2.1 Servo communication architecture ······························································ 12-5
12.2.2 Communication objects ············································································ 12-6
12.2.2.1 Process data object (PDO) ································································· 12-7
12.2.2.2 Service data object (SDO) ·································································· 12-8
12.2.2.3 SDO abort codes ············································································ 12-11
12.2.2.4 Synchronization object (SYNC) ························································· 12-12
12.2.2.5 Emergency object (EMCY) ······························································· 12-13
12.2.2.6 NMT services ················································································ 12-14
12.3 CANopen operation modes ··········································································· 12-17
12.3.1 Profile Position mode ············································································ 12-17
12.3.2 Interpolated Position mode ···································································· 12-22
12.3.3 Homing mode ······················································································ 12-25
12.3.4 Profile Velocity mode ············································································· 12-27
12.3.5 Profile Torque mode ·············································································· 12-29
12.4 Object dictionary ························································································ 12-31
12.4.1 Specifications for objects ········································································ 12-31
12.4.2 List of objects ······················································································ 12-32
12.4.3 Details of objects ·················································································· 12-34