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ASDA-A3

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EtherCAT Mode

Object 6063h: Position actual internal value (Pulse)

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

6063h

Position actual internal value

VAR

INTEGER32

RO

Yes

INTEGER32

0

Pulse (unit for encoder pulse resolution)

The ASDA-A2 servo drive generates 1,280,000

pulses per motor revolution.

The ASDA-A3 / ASDA-B3 servo drive generates

16,777,216 pulses per motor revolution.

Object 6064h: Position actual value (PUU)

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

6064h

Position actual value

VAR

INTEGER32

RO

Yes

INTEGER32

0

PUU

Object 6065h: Following error window

Index

Name

Object code

Data type

Access

PDO mapping

Setting range

Default

Unit

6065h

Following error window

VAR

UNSIGNED32

RW

Yes

UNSIGNED32

50331648

PUU

Object function:

When the following error actual value (OD 60F4h) exceeds this setting range, AL009

(Excessive deviation of Position command) is triggered.

Accepted following error

Following error

window

Following error

window

Position

Following error

No following error

Target position

Following error

13

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