Delta ASDA-A3 Series User Manual page 977

CANopen Mode
Read the servo drive information:
1. Read OD 6041h to obtain the servo drive status.
12
2. Read OD 606Ch to obtain the current speed feedback.
Relevant object list
Index
6040h
6041h
6060h
6061h
6064h
606Bh
606Ch
606Dh
606Eh
606Fh
6072h
6077h
607Fh
6083h
6084h
6085h
6093h
60C5h
60C6h
60FFh
Note: for more details, refer to Section 12.4.3 Details of objects.
12-28
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position actual value [PUU]
Velocity demand value
Velocity actual value
Velocity window
Velocity window time
Velocity threshold
Max torque
Torque actual value
Max profile velocity
Profile acceleration
Profile deceleration
Quick stop deceleration
Position factor
Max acceleration
Max deceleration
Target velocity
Data type
UNSIGNED16
UNSIGNED16
INTEGER8
INTEGER8
INTEGER32
INTEGER32
INTEGER32
UNSIGNED16
UNSIGNED16
UNSIGNED16
UNSIGNED16
INTEGER16
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
INTEGER32
ASDA-A3
Access
RW
RO
RW
RO
RO
RO
RO
RW
RW
RW
RW
RO
RW
RW
RW
RW
RW
RW
RW
RW