Delta ASDA-A3 Series User Manual page 1131

EtherCAT Mode
Object 60B2h: Torque offset
Index
13
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Unit
Object function:
This object sets the torque offset. For more details, refer to Section 13.3.7 Cyclic
Synchronous Torque mode.
Object 60B8h: Touch probe function
Index
Name
Object code
Data type
Access
PDO mapping
Setting range
Default
Object function:
This object sets the Touch Probe related function settings. For the operation details, refer to
Section 13.3.8 for the description of Touch Probe.
Bit
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
13-86
60B2h
Torque offset
VAR
INTEGER16
RW
Yes
-3500 to +3500
0
0.1%
60B8h
Touch probe function
VAR
UNSIGNED16
RW
Yes
UNSIGNED16
0
Function
Touch Probe 1 switch
Touch Probe 1 number of capturing times
Touch Probe 1 capture source
Reserved
Rising-edge trigger action
of Touch Probe 1
Falling-edge trigger action
of Touch Probe 1
Description
0: disable Touch Probe 1.
1: enable Touch Probe 1.
0: capture one time. If the Touch Probe 1
signal is set to be both rising-edge and
falling-edge triggered, the data is
captured once for each triggering.
1: capture multiple times.
0: DI1 of CN1
1: motor Z pulse
-
0: N/A
1: start capturing when the Touch Probe
1 signal is rising-edge triggered and
store the data in OD 60BAh.
0: N/A
1: start capturing when the Touch Probe
1 signal is falling-edge triggered and
store the data in OD 60BBh.
ASDA-A3