Delta ASDA-A3 Series User Manual page 1006

ASDA-A3
State transition can be achieved with the Controlword (OD 6040h). The commands are as
follows:
Command
Shutdown
Switch on
Switch on +
Enable operation
Disable voltage
Quick stop
Disable operation
Enable operation
Fault reset
Object 6041h: Statusword
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
The Statusword contains many statuses, such as Servo On, command statuses, fault signal,
and quick stop. The state machine architecture is as follows:
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Bit 10
Bit 11
Bit of OD 6040h
Bit 7 Bit 3
0 X
0 0
0 1
0 X
0 X
0 0
0 1
X
6041h
Statusword
VAR
UNSIGNED16
RO
Yes
UNSIGNED16
0
Status
Ready to switch on Ready to be activated
Switched on Servo ready
Operation enabled Servo On
Fault Fault signal
Voltage enabled Servo is powered on
Quick stop Quick stop
Switch on disabled Servo disabled
Warning Warning signal
Reserved -
Remote Remote control
Target reached Target reached
Reserved -
Bit 2 Bit 1 Bit 0
1 1 0
1 1 1
1 1 1
X 0 X
0 1 X
1 1 1
1 1 1
X X X
Bit 0 - Bit 6: current status of
the servo drive (see the
following table for details).
When outputting the warning
signal, the servo keeps
outputting the Servo On
signal.
-
-
-
-
CANopen Mode
12
Transition
2, 6, 8
3
3 + 4
7, 9, 10, 12
7, 10, 11
5
4, 16
15
Description
12-57