Delta ASDA-B3 Series, User Manual

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ASDA-B3 EtherCAT Mode
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12
Object 60E1h: Negative torque limit
Index 60E1h
Name Negative Torque Limit
Object code VAR
Data type UNSIGNED16
Access RW
PDO mapping Yes
Setting range 0 - 3000
Default 3000
Unit 0.1%
Object function:
This object sets the negative torque limit.
Object 60F4h: Following error actual value
Index 60F4h
Name Following error actual value
Object code VAR
Data type INTEGER32
Access RO
PDO mapping Yes
Setting range INTEGER32
Default 0
Unit PUU
Object function:
The following error is the difference between the command position (OD 6062h) and
feedback position (OD 6064h). For more details, refer to the architecture diagram in
Section 12.3.
Object 60FCh: Position demand value
Index 60FCh
Name Position demand value
Object code VAR
Data type INTEGER32
Access RO
PDO mapping Yes
Setting range INTEGER32
Default 0
Unit pulse
Object function:
This command is generated after being processed by the servo drive filter. For more details,
refer to the architecture diagram in Section 12.3.
Object 60FDh: Digital inputs