Delta ASDA-A3 Series User Manual page 967

CANopen Mode
Operation steps:
1. Set OD 6060h to 01h to set the mode as Profile Position mode.
12
2. Set OD 607Ah for the target position (unit: PUU).
3. Set OD 6081h for the profile velocity (unit: PUU/sec).
4. Set OD 6083h for the profile acceleration (unit: ms).
5. Set OD 6084h for the profile deceleration (unit: ms).
6. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For the description of the state
machine, refer to the OD 6040h description in Section 12.4.3.3.
Step
6.1
6.2
6.3
6.4
7. After the servo completes the first motion command, the servo sets the target position,
speed, and other conditions to execute the next motion command.
8. Set the Controlword (OD 6040h). Since the command is rising-edge triggered, switch Bit 4
to Off first and then to On.
Step
8.1
8.2
Read the servo drive information:
1. Read OD 6064h to obtain the actual value of the motor position at present.
2. Read OD 6041h to obtain the servo drive status, including the following error and
notifications for set-point acknowledge and target reached.
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Bit 4 Bit 3 Bit 2 Bit 1
0 0 1 1
0 0 1 1
0 1 1 1
1 1 1 1
Bit 4 Bit 3 Bit 2 Bit 1
0 1 1 1
1 1 1 1
Bit 0 Description
0 Shutdown.
1 Switch on (ready for Servo On).
1 Enable operation (Servo On).
1 Command triggering (rising-edge triggered)
Bit 0 Description
1 Enable operation (Servo On).
1 Command triggering (rising-edge triggered)
ASDA-A3