Delta ASDA A2-E User Manual

Chapter 5 CANopen Operation Mode ASDA A2-E
5-10 Revision April, 2015
5.5 Profile Velocity Mode
5.5.1 Description
The drive could receive velocity command and plan acceleration and deceleration.
5.5.2 Operation Procedures
1. Set【Mode of operations:6060h】to profile velocity mode(0x03).
2. Set【Controlword:6040h】as (0x06  0x07  0x0F) to Servo ON the drive and
enable the motor.
(After Servo On, the internal velocity command will be reset and OD-60FFh will be
cleared.)
3. Set【Profile acceleration:6083h】to plan acceleration slope. (millisecond from 0rpm
to 3000rpm)
4. Set【Profile deceleration:6084h】to plan deceleration slope. (millisecond from 0rpm
to 3000rpm)
5. Set【Target velocity:60FFh】. The unit of the target velocity is 0.1rpm.
(If the drive is already servo-on, it will work immediately while receiving velocity
command. OD-60FFh will be cleared to 0 if OD-6060h [Mode] is changed, and
Servo-Off or Quick-Stop is activated.)
6. Read【Statusword:6041h】to obtain the drive status.

Delta ASDA A2-E Specifications

General

Brand	Delta
Model	ASDA A2-E
Category	Servo Drives
Language	English