Delta ASDA-A3 Series User Manual page 1101

EtherCAT Mode
Bit 4 - Bit 6
13
Bit 7
Bit 8
Bit 9 - Bit 15
Bits 4 - 6 are individually defined according to the operation mode, as shown in the following
table:
Bit
Bit 4
Bit 5
Bit 6
Note: - indicates the bit is invalid.
Finite state machine (as shown in the following diagram) defines the behavior of a servo
drive system. Each state represents an internal or external behavior. For example, the servo
drive can execute point-to-point motion only in the Operation enabled state.
13-56
Bit
Defined in each operation mode
Fault reset
Profile Position mode
Command triggering
(rising-edge triggered)
Function for the command to
take immediate effect
0: absolute position command
1: relative position command
12
16
Quick Stop
11
Function
Halt
Reserved
Definition in each operation mode
Homing mode
Homing
(rising-edge triggered)
-
-
Start
0, 1
Switch On
disabled
2
7
Ready to
10
switch on
3
6
Switch on
4
5
Operation
enabled
Description
These bits are individually defined
according to the operation mode,
as shown in the following table.
-
-
-
Profile Velocity mode
Profile Torque mode
Interpolated Position mode
Cyclic Synchronous Position mode
Cyclic Synchronous Velocity mode
Cyclic Synchronous Torque mode
-
-
-
15
Fault
9
8
13, 14
ASDA-A3