Delta ASDA-B3 Series, Руководство пользователя

Страница: 533 / 815

CANopen Mode ASDA-B3
11-18
11
Operation steps:
1.
Set OD 6060h to 01h to set the mode as the position control mode.
2.
Set OD 607Ah for the target position (unit: PUU).
3.
Set OD 6081h for the speed command (unit: PUU/sec).
4.
Set OD 6083h for the acceleration time slope (unit: ms).
5.
Set OD 6084h for the deceleration time slope (unit: ms).
6.
Set OD 6040h for the control command. Follow these steps. Steps 6.1 and 6.2 are to
bring the servo drive's state machine into the ready state. For the description of the state
machine, refer to the OD 6040h description in Section 11.4.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
6.1 0 0 1 1 0 Shutdown.
6.2 0 0 1 1 1 Switch on (ready for servo on).
6.3 0 1 1 1 1 Enable operation (servo on).
6.4 1 1 1 1 1
Command triggered (rising-edge
triggering).
7.
After the servo completes the first motion command, the servo sets the target position,
speed and other conditions to execute the next motion command.
8.
Set OD 6040h for the control command. Since the command is rising-edge triggered,
switch Bit 4 to Off first and then to On.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
8.1 0 1 1 1 1 Enable operation (servo on).
8.2 1 1 1 1 1
Command triggered (rising-edge
triggering).
Read the servo drive information:
1.
Read OD 6064h to obtain the current motor feedback position.
2.
Read OD 6041h to obtain the servo drive status, including the following error and
notifications for set-point acknowledge and target reached.