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CANopen Mode

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ASDA-A3

12

 Set OD 6040h [Bit 5] to 1 to enable the command to take immediate effect (only valid in

Profile Position mode)

If the command is enabled to take immediate effect, when the current motion command is in

execution (not yet complete), the servo immediately interrupts the current command and

executes the new command once receiving the new triggered command.

Position

Target

position

(OD 607Ah)

Command

triggering

1

(OD 6040h

[Bit 4])

0

Speed

Velocity

actual value

(OD 606Ch)

20000 PUU

60000 PUU/s

50000 PUU

30000 PUU/s

Time

Current position

command

Set-point

acknowledge

1

(OD 6041h

[Bit 12])

0

Target reached 1

(OD 6041h

[Bit 10])

0

Relevant object list

Index

6040h

6041h

6060h

6061h

6062h

6063h

6064h

6065h

6067h

6068h

606Ch

6072h

6077h

607Ah

607Dh

607Fh

6081h

6083h

6084h

6085h

6093h

60C5h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Position demand value [PUU]

Position actual internal value [Pulse]

Position actual value [PUU]

Following error window

Position window

Position window time

Velocity actual value

Max torque

Torque actual value

Target position

Software position limit

Max profile velocity

Profile velocity

Profile acceleration

Profile deceleration

Quick stop deceleration

Position factor

Max acceleration

Data type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED16

INTEGER32

UNSIGNED16

INTEGER16

INTEGER32

INTEGER32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

UNSIGNED32

12-20

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Access

RW

RO

RW

RO

RO

RO

RO

RW

RW

RW

RO

RW

RO

RW

RW

RW

RW

RW

RW

RW

RW

RW