Delta ASDA-A3 Series User Manual page 968

ASDA-A3
Function for the command to take immediate effect
In Profile Position mode, set the command to take effect immediately or not with OD 6040h [Bit 5].
 Set OD 6040h [Bit 5] to 0 to disable the command from taking immediate effect
If the command is not enabled to take immediate effect, when the current motion command is in
execution (not yet complete), the servo continues to execute the current motion command even
if a new command is triggered. The new command is acknowledged and executed only after the
current command is complete.
Position
Target
position
(OD 607Ah)
Command
triggering
(OD 6040h
[Bit 4])
Speed
Velocity
actual value
(OD 606Ch)
Current position
command
Set-point
acknowledge
(OD 6041h
[Bit 12])
Target reached
(OD 6041h
[Bit 10])
20000 PUU
1
0
60000 PUU/s
20000 PUU
1
0
1
0
50000 PUU
30000 PUU/s
50000 PUU
CANopen Mode
12
Time
12-19