ASDA A2-E
Table of Contents
ii
Revision April, 2015
2.3.1 Two
Synchronization
Modes of Delta Servo ........................................... 2-11
2.3.2 Select the Synchronization Mode ........................................................... 2-12
2.3.3 Synchronous
Clock Time Setting ........................................................... 2-12
2.4 PDO
Mapping .............................................................................................. 2-14
2.4.1 Default
PDO Mappings ........................................................................... 2-14
2.4.2 Re-define
a
PDO Mapping ..................................................................... 2-15
2.4.3 Using
TwinCAT ...................................................................................... 2-16
Chapter 3 EtherCAT Communication States ........................................................... 3-1
3.1 State
Transition Operation ........................................................................... 3-2
Chapter 4 EtherCAT Troubleshooting ..................................................................... 4-1
Chapter 5 CANopen Operation Mode ....................................................................... 5-1
5.1 Profile
Position Mode ................................................................................... 5-1
5.1.1 Description ............................................................................................. 5-1
5.1.2 Operation
Procedures ............................................................................ 5-1
5.1.3 Advanced
Setting Procedures ................................................................ 5-2
5.1.4 Associated
Object List ............................................................................ 5-3
5.2 Interpolation
Position Mode ......................................................................... 5-4
5.2.1 Description ............................................................................................. 5-4
5.2.2 Operation
Procedures ............................................................................ 5-5
5.2.3 Associated
Object List ............................................................................ 5-5
5.3
Cyclic Synchronous Position Mode .............................................................. 5-6
5.3.1 Description ............................................................................................. 5-6
