ASDA A2-E
Chapter 5 CANopen Operation Mode
Revision April, 2015
5-11
5.5.3 Advanced Setting Procedures
1. Host could obtain the information of velocity mode.
Read
【
Velocity demand value:606B
h
】
to inquire the internal velocity command.
(unit: 0.1rpm)
Read
【
Velocity actual value:606C
h
】
to obtain the actual velocity value. (unit:
0.1rpm)
2. Host could set velocity monitor threshold.
Set
【
Velocity window:606D
h
】
to allocate velocity reached zone. (unit: 0.1rpm)
Set
【
Velocity widnow time:606E
h
】
in order to ensure the activation time is
before velocity reached. (unit: millisecond)
Set
【
Velocity threshold:606F
h
】
to allocate zero speed level. (unit: 0.1rpm)
5.5.4 Associated Object List
Index
Name
Type
Attr.
6040
h
Controlword UNSIGNED16
RW
6041
h
Statusword UNSIGNED16
RO
6060
h
Modes of operation
INTEGER8
RW
6061
h
Modes of operation display
INTEGER8
RO
606B
h
Velocity demand value
INTEGER32
RO
606C
h
Velocity actual value
INTEGER32
RO
Index
Name
Type
Attr.
606D
h
Velocity
window UNSIGNED16
RW
606E
h
Velocity window time
UNSIGNED16
RW
606F
h
Velocity
threshold UNSIGNED16
RW
60FF
h
Target
velocity INTEGER32
RW
(Please refer to the following “Details of Objects” section for more detailed descriptions)
