Delta ASDA-A3 Series, User Manual

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ASDA-A3 CANopen Mode
12-51
12
The state transition is defined as follows:
Transition Event Action
0, 1 Automatic transition after power-on Device boot and initialization
2 Command shutdown N/A
3 Command switch on Servo is ready for servo on
4 Command enable operation Servo on and executes motion mode
5 Command disable voltage Servo off
6 Command shutdown N/A
7
Command disable voltage or
command quick stop
N/A
8 Command shutdown Servo off
9 Command disable voltage Servo off
10
Command disable voltage or
command quick stop
N/A
11
Command quick stop
The following two errors belong to this
quick stop type:
1.
Trigger forward / reverse limit
switch
2.
Quick stop triggered by a control
command (OD 6040h = xxxx
x0xxx)
Quick stop function is enabled
12
Command disable voltage
(OD 6040h: 0000 0110 or xxxx xx0x)
Servo off
13, 14 Alarm occurs Servo off
15 Alarm is cleared N/A
16
Command enable operation and no
alarm
Motion operation restart.
The restart action is mode-dependent.
State changes can be achieved with control commands. The commands are as follows:
Setting value
Bit of OD 6040h
State change
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2, 6, 8
Switch on 0 0 1 1 1 3
Switch on +
Enable operation
0 1 1 1 1 3 + 4
Disable voltage 0 X X 0 X 7, 9, 10, 12
Quick stop 0 X 0 1 X 7, 10, 11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset X X X X 15