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CANopen Mode

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ASDA-A3

12

Read the servo drive information:

1. Read OD 6041h to obtain the servo drive status.

2. Read OD 6077h to obtain the current torque feedback.

Relevant object list

Index

6040h

6041h

6060h

6061h

6064h

606Ch

6071h

6074h

6075h

6077h

6078h

6087h

6093h

Name

Controlword

Statusword

Modes of operation

Modes of operation display

Position actual value [PUU]

Velocity actual value

Target torque

Torque demand value

Motor rated current

Torque actual value

Current actual value

Torque slope

Position factor

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

Data type

UNSIGNED16

UNSIGNED16

INTEGER8

INTEGER8

INTEGER32

INTEGER32

INTEGER16

INTEGER16

UNSIGNED32

INTEGER16

INTEGER16

UNSIGNED32

UNSIGNED32

Access

RW

RO

RW

RO

RO

RO

RW

RO

RO

RO

RO

RW

RW

12-30

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