Delta ASDA-A3 Series User Manual page 972

ASDA-A3
Operation steps:
1. Set OD 6060h to 07h to set the mode as Interpolated Position mode.
2. Set OD 60C2h for the interpolation time period. The setting must be the same as the
communication cycle period (OD 1006h).
3. In the PDO mapping setting of the controller, configure one set of RxPDO to be OD 60C1h
sub1 and OD 60C1h sub2.
4. In the PDO mapping setting of the controller, configure the objects to be monitored in
TxPDO according to the requirements, such as the position actual value (OD 6064h).
5. Set the Controlword (OD 6040h). Follow these steps for operation. Steps 5.1 and 5.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to the OD 6040h description in Section 12.4.3.3.
Step Bit 4
5.1 0
5.2 0
5.3 0
SYNC
OD 6040h [Bit 1] &
OD 6040h [Bit 2]
Servo On
OD 6040h [Bit 0]
OD 6040h [Bit 3]
OD 6041h [Bit 12]
Interpolation in
operation
OD 60C1h sub1
Interpolation data
record
Servo internal
interpolation position
Bit 3 Bit 2 Bit 1
0 1 1
0 1 1
1 1 1
Bit 0 Description
0 Shutdown.
1 Switch on (ready for Servo On).
1 Enable operation (Servo On).
Max.
3 ms
CANopen Mode
12
Time
12-23