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ASDA-A3

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CANopen Mode

Function for the command to take immediate effect

In Profile Position mode, set the command to take effect immediately or not with OD 6040h [Bit 5].

12  Set OD 6040h [Bit 5] to 0 to disable the command from taking immediate effect

If the command is not enabled to take immediate effect, when the current motion command is in

execution (not yet complete), the servo continues to execute the current motion command even

if a new command is triggered. The new command is acknowledged and executed only after the

current command is complete.

Position

Target

position

(OD 607Ah)

20000 PUU

50000 PUU

Command

1

triggering

(OD 6040h

[Bit 4])

0

Speed

Velocity

actual value

(OD 606Ch)

60000 PUU/s

Current position

command

Set-point

acknowledge 1

(OD 6041h

[Bit 12])

0

Target reached 1

(OD 6041h

[Bit 10])

0

20000 PUU

30000 PUU/s

50000 PUU

Time

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12-19