Delta ASDA-A3 Series User Manual page 973

CANopen Mode
Adjustment method:
It is suggested that you set the SYNC communication cycle period (OD 1006h) between 1 ms
12
and 10 ms. If the cycle period is too long, the interval between cycles also increases. If the
position change is big, it causes speed fluctuations. In this case, use P1.036 (S-curve
acceleration / deceleration constant) or P1.068 (Position command - moving filter) to smooth the
position difference. Since the jitter of each controller is different, the time the servo receives the
SYNC differs from the SYNC communication cycle time. When this happens, adjust the value of
P3.009.U to increase the error range and have the servo drive automatically correct the internal
timer so it is consistent with the communication cycle of the controller.
Relevant object list
Index
6040h
6041h
6060h
6061h
6093h
60C0h
60C1h
Note: for more details, refer to Section 12.4.3 Details of objects.
12-24
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position factor
Interpolation sub mode select
Interpolation data record
Data type Access
UNSIGNED16 RW
UNSIGNED16 RO
INTEGER8 RW
INTEGER8 RO
UNSIGNED32 RW
INTEGER16 RW
INTEGER32 RW
ASDA-A3