Delta ASDA-B3 Series, Руководство пользователя

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ASDA-B3 EtherCAT Mode
12-9
12
P3.009 Communication synchronization
Address: 0312H
0313H
Default: 0x5055 Control mode: CANopen / EtherCAT
Unit: - Setting range: Shown as follows
Format: HEX Data size: 16-bit
Settings:
Y Z U X
Digit
Z
Function Target value
Range 0 - F
 Z: if the servo is operating in the DC Synchronous mode, you can adjust the timing of the servo
for accessing EtherCAT packets to ensure that it does not conflict with the timing when the
controller sends the packets. The delay time in the following figure is 10 x Z (µs).
Slave
Sync0
SM2 event
delay
Slave App
Cycle time
Sync0
SM2 event
Sync0
delay
Slave App
Cycle time
P3.018 EtherCAT special function switch
Address: 0324H
0325H
Default: 0x00002000 Control mode: EtherCAT
Unit: - Setting range: 0x00000000 - 0x00112211
Format: HEX Data size: 32-bit
Settings:
High bit Low bit
C D B A Y Z U X
A Reserved X
Unit selection for Target velocity
(OD 60FF) and Velocity actual value
(OD 606C) when in the PV (Profile
Velocity) mode or CSV (Cyclic
Synchronous Velocity) mode.
B Reserved Y Reserved
C
Unit selection for the maximum speed of
OD 607F and OD 6080.
Z
AL185 communication disconnection
detection setting.
D Reserved U Reserved
 X: unit selection for Target velocity (OD 60FF) and Velocity actual value (OD 606C) when in the
PV (Profile Velocity) mode or CSV (Cyclic Synchronous Velocity) mode.
0: 0.1 rpm
1: pulse/sec