Delta ASDA A2-E - Page 82

ASDA A2-E Chapter 6 Object Dictionary Entries
Revision April, 2015 6-11
Bit Definition
15~9 8 7 6~4 3 2 1 0
N/A Halt Fault reset
Operation mode
specific
Enable
operation
Quick
Stop
(B-contact)
Enable
voltage
Switch
on
Note：
The user needs to set 6040h to 0x0006->0x0007->0x000F for Servo On step by step.
Bit
Operation mode
PP HM IP PV PT
4 New set-point
(positive trigger)
Homing operation start
(positive trigger)
N/A N/A N/A
5 Change set
immediately
N/A N/A N/A N/A
6 Absolute(0) / relative(1) N/A N/A N/A N/A
Abbreviation:
PP
Profile Position Mode
HM
Homing Mode
IP
Interpolated Position Mode
PV
Profile Velocity Mode
PT
Profile Torque Mode
t1 t2t0 t3 time
v1
v2
Velocity
Single set-point
Velocity
v2
v1
t0
t1
t2 time
Change settings immediately