Delta ASDA-A3 Series, Руководство пользователя

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CANopen Mode ASDA-A3
12-56
12
Object function:
When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h)
and the position actual value (OD 6064h) is smaller than this object, and the time is greater
than OD 6068h (position window time), Bit10 (target reached) of 6041h Statusword is output.
Position not reached
Position window Position window
Position
Position reached
Target position
Position not reached
Accepted position range
Position window (6067h)
Position
window
comparator
Statusword target reached (6041h)
+
-
Position window time (6068h)
Window
comparator
Position actual value (6064h)
PP mode
Target position (607Ah)
IP mode
Interpolation data record
(60C1h)
Object 6068h: Position window time
Index 6068h
Name Position window time
Object code VAR
Data format UNSIGNED16
Access RW
PDO mapping Yes
Setting range UNSIGNED16
Default 0
Unit ms
Object function:
When the error value between the command (PP mode: OD 607Ah; IP mode: OD 60C1h) and
the feedback position (OD 6064h) is smaller than this object, and the time is greater than
OD 6068h (position arrival time), Bit10 of Statusword 6041h outputs once the target is reached.