Delta ASDA-B3 Series, Руководство пользователя

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CANopen Mode ASDA-B3
11-22
11
Operation steps:
1.
Set OD 6060h to 07h to set the mode as Interpolation Position Mode.
2.
Set OD 60C2h for the interpolation cycle. The setting must be the same as the
communication cycle of OD 1006h.
3.
In the PDO mapping setting of the controller, configure one set of RxPDO to be
OD 60C1h sub1 and OD 60C1h sub2.
4.
In the PDO mapping setting of the controller, configure the objects to be monitored in
TxPDO according to the requirements, such as the feedback position (OD 6064h).
5.
Set OD 6040h for the control command. Follow these steps. Steps 5.1 and 5.2 are to
bring the servo drive's state machine into the ready state. For more details of the state
machine, refer to Section 11.2.2.6.
Step Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
5.1 0 0 1 1 0 Shutdown.
5.2 0 0 1 1 1 Switch on (ready for servo on).
5.3 0 1 1 1 1 Enable operation (servo on).
SYNC
OD 6041h Bit 12
Interpolation mode
in motion
OD 60C1h sub1
Interpolation
position
Servo internal
interpolation position
OD 6040h Bit 3
OD 6040h Bit 0
OD 6040h Bit 1
& OD 6040h Bit 2
Time
Max.
3 ms
Servo On