Delta ASDA-A3 Series User Manual page 979

CANopen Mode
Read the servo drive information:
1. Read OD 6041h to obtain the servo drive status.
12
2. Read OD 6077h to obtain the current torque feedback.
Relevant object list
Index
6040h
6041h
6060h
6061h
6064h
606Ch
6071h
6074h
6075h
6077h
6078h
6087h
6093h
Note: for more details, refer to Section 12.4.3 Details of objects.
12-30
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position actual value [PUU]
Velocity actual value
Target torque
Torque demand value
Motor rated current
Torque actual value
Current actual value
Torque slope
Position factor
Data type Access
UNSIGNED16 RW
UNSIGNED16 RO
INTEGER8 RW
INTEGER8 RO
INTEGER32 RO
INTEGER32 RO
INTEGER16 RW
INTEGER16 RO
UNSIGNED32 RO
INTEGER16 RO
INTEGER16 RO
UNSIGNED32 RW
UNSIGNED32 RW
ASDA-A3