Delta ASDA A2-E - 5.5.3 Advanced Setting Procedures; 5.5.4 Associated Object List

ASDA A2-E Chapter 5 CANopen Operation Mode
Revision April, 2015 5-11
5.5.3 Advanced Setting Procedures
1. Host could obtain the information of velocity mode.
 Read【Velocity demand value:606B
h
】to inquire the internal velocity command.
(unit: 0.1rpm)
 Read【Velocity actual value:606C
h
】to obtain the actual velocity value. (unit:
0.1rpm)
2. Host could set velocity monitor threshold.
 Set【Velocity window:606D
h
】to allocate velocity reached zone. (unit: 0.1rpm)
 Set【Velocity widnow time:606E
h
】in order to ensure the activation time is
before velocity reached. (unit: millisecond)
 Set【Velocity threshold:606F
h
】to allocate zero speed level. (unit: 0.1rpm)
5.5.4 Associated Object List
Index Name Type Attr.
6040
h
Controlword UNSIGNED16 RW
6041
h
Statusword UNSIGNED16 RO
6060
h
Modes of operation INTEGER8 RW
6061
h
Modes of operation display INTEGER8 RO
606B
h
Velocity demand value INTEGER32 RO
606C
h
Velocity actual value INTEGER32 RO
Index Name Type Attr.
606D
h
Velocity window UNSIGNED16 RW
606E
h
Velocity window time UNSIGNED16 RW
606F
h
Velocity threshold UNSIGNED16 RW
60FF
h
Target velocity INTEGER32 RW
(Please refer to the following “Details of Objects” section for more detailed descriptions)