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CANopen Mode

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ASDA-A3

12

Adjustment method:

It is suggested that you set the SYNC communication cycle period (OD 1006h) between 1 ms

and 10 ms. If the cycle period is too long, the interval between cycles also increases. If the

position change is big, it causes speed fluctuations. In this case, use P1.036 (S-curve

acceleration / deceleration constant) or P1.068 (Position command - moving filter) to smooth the

position difference. Since the jitter of each controller is different, the time the servo receives the

SYNC differs from the SYNC communication cycle time. When this happens, adjust the value of

P3.009.U to increase the error range and have the servo drive automatically correct the internal

timer so it is consistent with the communication cycle of the controller.

Relevant object list

Index

6040h

6041h

6060h

6061h

6093h

60C0h

60C1h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Position factor

Interpolation sub mode select

Interpolation data record

Note: for more details, refer to Section 12.4.3 Details of objects.

Data type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

UNSIGNED32

INTEGER16

INTEGER32

Access

RW

RO

RW

RO

RW

RW

RW

12-24

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