Delta ASDA-A3 Series User Manual page 1105

EtherCAT Mode
Object function:
This object sets the mode for operation.
13
Object 6061h: Modes of operation display
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
This object displays the current operation mode. Refer to the table in OD 6060h.
Object 6062h: Position demand value (PUU)
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Unit
Object function:
This position demand value is the interpolation command calculated by the servo internal
interpolator. This command passes through the servo internal filter. For its detailed location,
refer to the servo architecture diagram of each mode.
13-60
Setting value
0
1
2
3
4
5
6
7
8
9
10
6061h
Modes of operation display
VAR
INTEGER8
RO
Yes
INTEGER8
0
6062h
Position demand value
VAR
INTEGER32
RO
Yes
INTEGER32
0
PUU
Mode
Reserved
Profile Position mode
Reserved
Profile Velocity mode
Profile Torque mode
Reserved
Homing mode
Reserved
Cyclic Synchronous Position mode
Cyclic Synchronous Velocity mode
Cyclic Synchronous Torque mode
ASDA-A3