Delta ASDA-A3 Series User Manual page 1071

EtherCAT Mode
 Set OD 6040h [Bit 5] to 1 to enable the command to take immediate effect is enabled (only
valid in Profile Position mode).
13
If the command is enabled to take immediate effect, when the current motion command is in
execution (not yet complete), the servo immediately interrupts the current command and
executes the new command once receiving the new triggered command.
Target position
(OD 607Ah)
Command
triggering
(OD 6040h
[Bit 4])
Velocity actual
value
(OD 606Ch)
Current position
command
Set-point
acknowledge
(OD 6041h
[Bit 12])
Target reached
(OD 6041h
[Bit 10])
Relevant object list
Index
6040h
6041h
6060h
6061h
6062h
6063h
6064h
6065h
6067h
6068h
606Ch
6072h
6077h
607Ah
607Dh
607Fh
6081h
6083h
6084h
6085h
6093h
13-26
Position
20000 PUU
1
0
Speed 60000 PUU/s
1
0
1
0
Name
Controlword
Statusword
Modes of operation
Modes of operation display
Position demand value [PUU]
Position actual internal value
[Pulse]
Position actual value [PUU]
Following error window
Position window
Position window time
Velocity actual value
Max torque
Torque actual value
Target position
Software position limit
Max profile velocity
Profile velocity
Profile acceleration
Profile deceleration
Quick stop deceleration
Position factor
50000 PUU
30000 PUU/s
Data type
UNSIGNED16
UNSIGNED16
INTEGER8
INTEGER8
INTEGER32
INTEGER32
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED16
INTEGER32
UNSIGNED16
INTEGER16
INTEGER32
INTEGER32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
UNSIGNED32
ASDA-A3
Time
Access
RW
RO
RW
RO
RO
RO
RO
RW
RW
RW
RO
RW
RO
RW
RW
RW
RW
RW
RW
RW
RW