Delta ASDA-A3 Series User Manual page 1109

EtherCAT Mode
Object 606Ch: Velocity actual value
Index
13
Name
Object code
Data type
Access
PDO mapping
Setting range
Unit
Object function:
Returns the motor speed at present for monitoring.
Object 606Dh: Velocity window
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Unit
Object function:
The window comparator compares the speed difference with the velocity window (OD
606Dh). When the difference (absolute value) is within the range of the velocity window and
the duration of this condition is longer than the time set in the velocity window time (OD
606Eh), OD 6041h [Bit 10] (Target reached) is output. This object only works in Profile
Velocity mode.
Note: when P3.012.Z is set to 1, the non-volatile setting for this object is enabled.
Velocity window (606Dh)
Velocity window time (606Eh)
Target reached (6041h [Bit 10])
13-64
606Ch
Velocity actual value
VAR
INTEGER32
RO
Yes
INTEGER32
0.1 rpm
606Dh
Velocity window
VAR
UNSIGNED16
RW
Yes
0 - 3000
100
0.1 rpm
Window
Timer
comparator
Velocity demand value
(606Bh)
+
-
Velocity actual value (606Ch)
ASDA-A3