Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 CANopen Mode
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Object 6061h: Modes of operation display
Index 6061h
Name Modes of operation display
Object code VAR
Data type INTEGER8
Access RO
PDO mapping Yes
Setting range INTEGER8
Default 0
Object function:
This object displays the current operation mode.
Object 6062h: Position demand value (PUU)
Index 6062h
Name Position demand value
Object code VAR
Data type INTEGER32
Access RO
PDO mapping Yes
Setting range INTEGER32
Default 0
Unit PUU
Object function:
This command position is the interpolation command calculated by the servo internal
interpolator. This command passes through the servo internal filter. For detailed position,
refer to the servo architecture diagram of each mode.
Object 6063h: Position actual internal value
Index 6063h
Name Position actual internal value
Object code VAR
Data type INTEGER32
Access RO
PDO mapping Yes
Setting range INTEGER32
Default 0
Unit
Pulse (unit for encoder pulse resolution)
ASDA-A2 corresponds to 1,280,000 pulses per motor
rotation.
ASDA-A3 / ASDA-B3 correspond to 16,777,216
pulses per motor rotation.