Delta Electronics ASDA A2-E User Manual

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ASDA A2-E

EtherCAT Interface Servo Drive User Manual

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ASDA A2-E

EtherCAT Interface Servo Drive User Manual

V3.0 DELTA_ASDA-A2-E_UM_EN_20150430

Industrial Automation Headquarters

Delta Electronics, Inc.

Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan City, Taoyuan County 33068, Taiwan TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Jiangsu) Ltd.

Wujiang Plant 3 1688 Jiangxing East Road, Wujiang Economic Development Zone Wujiang City, Jiang Su Province, P.R.C. 215200 TEL: 86-512-6340-3008 / FAX: 86-769-6340-7290

Delta Greentech (China) Co., Ltd.

238 Min-Xia Road, Pudong District, ShangHai, P.R.C. 201209 TEL: 86-21-58635678 / FAX: 86-21-58630003

Delta Electronics (Japan), Inc.

Tokyo Ofce

2-1-14 Minato-ku Shibadaimon, Tokyo 105-0012, Japan TEL: 81-3-5733-1111 / FAX: 81-3-5733-1211

Delta Electronics (Korea), Inc.

1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, 153-704 TEL: 82-2-515-5303 / FAX: 82-2-515-5302

Delta Electronics Int’l (S) Pte Ltd.

4 Kaki Bukit Ave 1, #05-05, Singapore 417939 TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No 43 Sector 35, HSIIDC Gurgaon, PIN 122001, Haryana, India TEL : 91-124-4874900 / FAX : 91-124-4874945

Americas

Delta Products Corporation (USA)

Raleigh Ofce

P.O. Box 12173,5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: 1-919-767-3800 / FAX: 1-919-767-8080

Delta Greentech (Brasil) S.A.

Sao Paulo Ofce Rua Itapeva, 26 - 3° andar Edicio Itapeva One-Bela Vista

01332-000-São Paulo-SP-Brazil TEL: 55 11 3568-3855 / FAX: 55 11 3568-3865

Europe

Deltronics (The Netherlands) B.V.

Eindhoven Ofce

De Witbogt 15, 5652 AG Eindhoven, The Netherlands TEL: 31-40-2592850 / FAX: 31-40-2592851

*We reserve the right to change the information in this manual without prior notice.

Via Polesine, 1/4

10020 Cambiano ( TO ) Italy +39 011 9454523

www.e-comtech.it

info@e-comtech.it

Revision April, 2015 i

Table of Contents

Chapter 1 CoE Drive Overview ................................................................................. 1-1

1.1 Communication Specification ...................................................................... 1-1

1.2 The Interface of Delta EtherCAT Servo Drive .............................................. 1-2

1.3 LED Indicators ............................................................................................. 1-3

1.4 The Topology ............................................................................................... 1-6

1.5 Wiring .......................................................................................................... 1-7

1.5.1 Explanation of I/O (CN1) Connector Signal ............................................ 1-8

1.5.2 CN2 Connector ....................................................................................... 1-9

1.5.3 CN5 Connector (Full-closed Loop) ......................................................... 1-10

1.5.4 CN6 EtherCAT Terminal ........................................................................ 1-11

1.5.5 CN7 Extension DI ................................................................................... 1-12

1.5.6 CN-STO.................................................................................................. 1-13

1.5.7 STO with Safety Relay ........................................................................... 1-14

1.5.8 STO Disable ........................................................................................... 1-14

1.6 Dimension .................................................................................................... 1-15

1.6.1 220V Series ............................................................................................ 1-15

1.6.2 400V Series ............................................................................................ 1-17

Chapter 2 System Setup ........................................................................................... 2-1

2.1 Parameter Settings of EtherCAT Mode ....................................................... 2-1

2.2 TwinCAT Setup ............................................................................................ 2-3

2.3 Synchronization Modes Setting ................................................................... 2-11

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2.3.1 Two Synchronization Modes of Delta Servo ........................................... 2-11

2.3.2 Select the Synchronization Mode ........................................................... 2-12

2.3.3 Synchronous Clock Time Setting ........................................................... 2-12

2.4 PDO Mapping .............................................................................................. 2-14

2.4.1 Default PDO Mappings ........................................................................... 2-14

2.4.2 Re-define a PDO Mapping ..................................................................... 2-15

2.4.3 Using TwinCAT ...................................................................................... 2-16

Chapter 3 EtherCAT Communication States ........................................................... 3-1

3.1 State Transition Operation ........................................................................... 3-2

Chapter 4 EtherCAT Troubleshooting ..................................................................... 4-1

Chapter 5 CANopen Operation Mode ....................................................................... 5-1

5.1 Profile Position Mode ................................................................................... 5-1

5.1.1 Description ............................................................................................. 5-1

5.1.2 Operation Procedures ............................................................................ 5-1

5.1.3 Advanced Setting Procedures ................................................................ 5-2

5.1.4 Associated Object List ............................................................................ 5-3

5.2 Interpolation Position Mode ......................................................................... 5-4

5.2.1 Description ............................................................................................. 5-4

5.2.2 Operation Procedures ............................................................................ 5-5

5.2.3 Associated Object List ............................................................................ 5-5

5.3 Cyclic Synchronous Position Mode .............................................................. 5-6

5.3.1 Description ............................................................................................. 5-6

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5.3.2 The Function of CSP Mode .................................................................... 5-6

5.3.3 Operation Procedures ............................................................................ 5-6

5.3.4 Associated Object List ............................................................................ 5-7

5.4 Homing Mode .............................................................................................. 5-8

5.4.1 Description ............................................................................................. 5-8

5.4.2 Operation Procedures ............................................................................ 5-8

5.4.3 Associated Object List ............................................................................ 5-9

5.5 Profile Velocity Mode ................................................................................... 5-10

5.5.1 Description ............................................................................................. 5-10

5.5.2 Operation Procedures ............................................................................ 5-10

5.5.3 Advanced Setting Procedures ................................................................ 5-11

5.5.4 Associated Object List ............................................................................ 5-11

5.6 Cyclic Synchronous Velocity Mode .............................................................. 5-12

5.6.1 Description ............................................................................................. 5-12

5.6.2 The Function of CSV Mode .................................................................... 5-12

5.6.3 Operation Procedures ............................................................................ 5-12

5.6.4 Associated Object List ............................................................................ 5-13

5.7 Profile Torque Mode .................................................................................... 5-14

5.7.1 Description ............................................................................................. 5-14

5.7.2 Operation Procedures ............................................................................ 5-14

5.7.3 Advanced Setting Procedures ................................................................ 5-14

5.7.4 Associated Object List ............................................................................ 5-15

5.8 Cyclic Synchronous Torque Mode ............................................................... 5-16

5.8.1 Description ............................................................................................. 5-16

5.8.2 The Function of CST Mode .................................................................... 5-16

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5.8.3 Operation Procedures ............................................................................ 5-16

5.8.4 Associated Object List ............................................................................ 5-17

5.9 Limit Position Handling Procedure ............................................................... 5-18

5.9.1 Description ............................................................................................. 5-18

5.9.2 Operation Procedures ............................................................................ 5-18

5.10 Touch Probe Function ................................................................................. 5-19

5.10.1 Description ............................................................................................. 5-19

5.10.2 Touch Probe Function ............................................................................ 5-19

5.10.3 Touch Probe Status ................................................................................ 5-20

5.10.4 Associated Object List ............................................................................ 5-21

Chapter 6 Object Dictionary Entries ........................................................................ 6-1

6.1 Specifications for Objects ............................................................................ 6-1

6.1.1 Object Type ............................................................................................ 6-1

6.1.2 Data Type ............................................................................................... 6-1

6.2 Overview of Object Group 1000h ................................................................. 6-2

6.3 Overview of Object Group 6000

................................................................. 6-3

6.4 Details of Objects ......................................................................................... 6-6

Chapter 7 Safety Function (Safe Torque Off, STO) ................................................. 7-1

7.1 Description of Terminal Block ...................................................................... 7-1

7.1.1 Functional Safety Standard and Certificates ........................................... 7-3

7.2 STO Safety Function ................................................................................... 7-3

7.3 Related Parameter Descriptions of STO Function ....................................... 7-5

7.4 Related Alarm Descriptions of STO Function .............................................. 7-6

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Chapter 8 Alarm List .................................................................................................. 8-1

8.1 EtherCAT Communication Fault Messages ................................................. 8-1

8.2 Error Code Table ......................................................................................... 8-4

8.3 SDO Error Message Abort Codes ................................................................ 8-7

Chapter 9 Reference .................................................................................................. 9-1

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Chapter 1 CoE Drive Overview

1.1 Communication Specification

EtherCAT

Communication

Physical layer

100BASE-TX

Communication

connector

RJ45 × 2 (Connector CN6A=IN, CN6B=OUT)

Network topology

Line connection

Baud rate

2 x 100 Mbps (full duplex)

Frame data length

Maximum 1484 bytes

SyncManager

SM0: Mailbox output SM1: Mailbox input SM2: Process data output SM3: Process data input

FMMU

(Fieldbus Memory

Management Units)

FMMU0: Process data output area FMMU1: Process data input area FMMU2: Mailbox status area

Device profile

CoE: CANopen over EtherCAT

Synchronization

mode

DC synchronization ( SYNC0 ) Non- synchronized ( Free Run )

Communication

object

SDO: Service Data Object PDO: Process Data Object EMCY: Emergency Data Object

LED indicator

(On RJ45

Connector)

EtherCAT ERR (ER) × 1 EtherCAT Link/Activity (L/A) × 2 EtherCAT RUN (RN) × 1

Application layer

specifications

IEC61800-7 CiA402 Drive Profile

The supported CiA402 operation

modes

Profile Position Mode (PP) Profile Velocity Mode (PV) Profile Torque Mode (PT) Homing Mode (HM) Interpolated Position Mode(IP) Cycle Synchronized Position Mode (CSP) Cycle Synchronized Velocity Mode (CSV) Cycle Synchronized Torque Mode (CST)

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1.2 The Interface of Delta EtherCAT Servo Drive

Figure 1 The Interface of Delta EtherCAT Servo Drive

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

Run indicator (RUN)

Link/Activity of EtherCAT output port indicator (L/A)

Error indicator (ERR)

EtherCAT output port (CN6)

EtherCAT input port (CN6)

Link/Activity of EtherCAT input port indicator (L/A)

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1.3 LED Indicators

Indicator

state

Indicator pattern

OFF

Blinking

OFF

200ms

Single

Flash

OFF

200ms

1000ms

OFF

Figure 2. RJ45 LED indicator pattern

ERROR (ERR) LED

The ERR LED indicator shows the error status of EtherCAT communication.

Indicator state Slave State Off No error Blinking State change error

Single Flash

Synchronization error SyncManager error

On PDI Watchdog timeout

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State change error: The state machine does not allow the system to change its state

because the wrong parameter settings. Please refer to Figure 29 for

its switching conditions. Synchronization error: The synchronization of Master Clock and Slave Clock is failed. SyncManager error: The data of process data is lost when receiving. PDI Watchdog

timeout:

The hardware failure on slave. Please contact Delta distributors for

assistance.

RUN LED

The RUN LED indicator shows the status of EtherCAT state machine

Indicator state Slave State Off INIT Blinking PRE-OPERATIONAL Single Flash SAFE-OPERATIONAL On OPERATIONAL

INIT: After power on, the EtherCAT slave will get into INIT state if there

is no error. At INIT state, no communication servo is provided.

Accessing slave’s register from the host is available at this state. PRE-OPERATIONAL: The SDO can be used to communicate with its host controller. SAVE-

OPERATIONAL:

Both SDO and TxPDO, which can send cyclic data from the slave

to the host, are workable. OPERATIONAL: SDO, TxPDO and RxPDO are working.

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Link Activity (L/A) LED

The L/A LED indicator shows the physical link status and the link activity.

Indicator state Slave State Off No link Blinking Link and activity On Link without activity

No link: The link has not established yet. Link and activity: The data is exchanging with its partners. Link without activity: The link is established but no data is exchanging now.

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1.4 The Topology

The topology is defined by the host controller. Please refer to the host controller ’s application manual. There are only one input port and one output port on Delta servo drive for EtherCAT communication ports.

Figure 3 EtherCAT connection topology example

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1.5 Wiring

I/O Signal (CN1) Connection and Connector Terminal Layout

In order to have a more flexible communication with the master, 4 programmable Digital Output (DO) and 7 programmable Digital Input (DI) are provided, which are parameter P2-18~P2-21 and P2-10~P2-16 respectively. In addition, the differential output encoder signal A+, A-, B+, B-, Z+ and Z- is also provided. The followings are the pin diagrams.

CN1 Connector (female)

CN1 Connector (male)

rear view

1 DO1+

Digital output

14 COM-

VDD power

ground

2 DO1-

Digital output

15 NC N/A

3 DO2+

Digital output

16 GND

Analog

input signal

ground

4 DO2-

Digital output

17 OA

Encoder/

A pulse

output

5 VDD

+24V Power

output

18 /OA

Encoder/

A pulse

output

6 COM+

Power input

(12~24V）

19 OB

Encoder/

B pulse

output

7 DI1- Digital input

20 /OB

Encoder/

B pulse

output

8 DI2- Digital input

21 OZ

Encoder/

Z pulse

output

9 DI3- Digital input

22 /OZ

Encoder/

Z pulse

output

10 DI4- Digital input

23 DO4+

Digital output

11 DI5- Digital input

24 DO4-

Digital output

12 DI6- Digital input

25 DO3+

Digital output

13 DI7- Digital input

26 DO3-

Digital output

NOTE

NC means NO CONNECTION. This terminal is for internal use only. Do not connect it, or it may damage the servo drive.

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1.5.1 Explanation of I/O (CN1) Connector Signal

The following details the signals listed in previous section.

General Signals

Signal Name Pin No Function

Wiring

Method

(Refer to

3.4.3)

Position

pulse

(output)

/OA

17 18

Encoder signal output A, B, Z (Line Driver output)

C13/C14

/OB

19 20

/OZ

21 22

Power

VDD 5

VDD is the +24V power provided by the drive and is for Digital Input (DI) and Digital Output (DO) signal. The maximum current is 500mA.

COM+ 6

COM+ is the common input of Digital Input (DI) and Digital Output (DO) voltage. When using VDD, VDD should be connected to COM+. If not using, it needs to apply the external power (+12V ~+24V). Its positive end should connect to COM+ and the negative end should connect to COM-.

COM- 14

GND 16

VCC voltage is based on GND.

Other NC 15

NO CONNECTION. This terminal is for internal use only. Do not connect it, or it may damage the servo drive.

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1.5.2 CN2 Connector

CN2 Connector (female)

CN2 Connector (male)

Rear view

Quick Connector

HOUSING: AMP (1-172161-9)

Military Connector

3106A-20-29S

Drive Connector Motor Connector

Pin No

Terminal

Symbol

Function and Description

Military

connector

Quick

connector

Color

5 T+

Serial communication signal input / output (+)

A 1 Blue

4 T-

Serial communication signal input / output (-)

B 4

Blue & Black

- -

Reserved - - -

- -

Reserved - - -

14,16 +5V

Power +5V S 7

Red/Red & white

13,15 GND

Power ground R 8

Black/Black & white

- -

shielding L 9 -

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1.5.3 CN5 Connector (Full-closed Loop)

Connect linear scale or encoder (A, B, Z format) to the servo and form a full-closed loop. In position mode, the pulse command issued by the controller is based on the control loop of the external linear scale. Please refer to Chapter 6.

CN5 Connector (female)

Pin No Signal Name Terminal Symbol Function and Description

1 /Z phase input Opt_/Z /Z phase 2 /B phase input Opt_/B /B phase 3 B phase input Opt_B B phase 4 A phase input Opt_A A phase 5 /A phase input Opt_/A /A phase 6 Encoder grounding GND Ground 7 Encoder grounding GND Ground 8 Encoder power +5V + 5V power 9 Z phase input Opt_Z Z phase

NOTE

1. It only supports the encoder of AB phase and 5V voltage.

2. The application of full-closed loop: it supports the encoder of highest resolution 1280000 pulse/rev (A pulse number per motor revolution for a full-closed loop that corresponds to an optical signal with AB (Quadrature) phase pulses (4x).).

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1.5.4 CN6 EtherCAT Terminal

CN5 Connector (female)

Pin No Signal Name Terminal Symbol Function and Description

1 TX + TX + Transmit + 2 TX - TX - Transmit 3 RX + RX + Receive + 4 - - 5 - - 6 RX - RX - Receive 7 - - 8 - - -

NOTE

1. The maximum distance between two stations should be 50 meters.

2. Please use CAT5e STP Shielding.

OUT

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1.5.5 CN7 Extension DI

CN7 Connector (male)

Pin No Signal Name Terminal Symbol Function and Description

VDD

24V power

COM+

VDD (24V) power is the same as

the voltage of Pin11 in CN1

2 Extension DI9 EDI 9- Digital input pin 93 Extension DI10 EDI 10- Digital input pin 104 Extension DI11 EDI 11- Digital input pin 115 Extension DI12 EDI 12- Digital input pin 126 Extension DI13 EDI 13- Digital input pin 137 Extension DI14 EDI 14- Digital input pin 14-

 Caution: Do not apply to dual power or it may damage the servo drive.

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1.5.6 CN-STO

CN-STO Connector (male)

Pin No Signal Name Terminal Symbol Function and Description

VDD24V power

COM+

VDD (24V) power is the same as the voltage of Pin11 in CN1

2 STO_A STO_A STO input pin A+ 3 /STO_A /STO_A STO input pin A4 STO_B STO_B STO input pin B+ 5 /STO_B /STO_B STO input pin B-

6 FDBK_A FDBK_A

STO alarm output pin A, Relay Output Max. Current : 1A

7 FDBK_B FDBK_B

STO alarm output pin B, Relay Output

Max. Current : 1A

8 COM- COM- VDD(24V) power ground

 Caution: Do not apply to dual power or it may damage the servo drive.

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1.5.7 STO with Safety Relay

ESTOP

6 7

STO_A

/ STO_A

STO_B

/ STO_B

FDBK_A

FDBK_B

COM+

COM-

STO

24V DC

Safe ty Re la y

1.5.8 STO Disable

6 7

STO

STO_A

/ STO_ A

STO_B

/ STO_ B

FDBK_A

FDBK_B

COM+

COM-

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1.6 Dimension

1.6.1 220V Series

100W/200W/400W

Weight

1.5（3.3）

750W/1kW/1.5kW

Weight

2.0（4.4）

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2kW/3kW

TERMINIAL

Ø5.5

203

5.4203.0

215.5

14.5 62

< 0.7

Weight

2.89（6.36）

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1.6.2 400V Series

400W/750W/1kW/1.5kW

Ø5.5

180

5.4163

12.5

173

Weight

2.0（4.4）

2kW/3kW/4.5kW/5.5kW

123.5 107

70.2

205.5

245

107

Weight

4.6（10.1）

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7.5kW

PE TERMINAL

119.5

107

136

8 70.2 205.5

Weight

4.6（10.1）

NOTE

1. Dimensions are in millimeters (inches); Weights are in kilograms (kg) and pounds (lbs).

2. Dimensions and weights of the servo drive may be revised without prior notice.

Revision April, 2015 2-1

Chapter 2 System Setup

2.1 Parameter Settings of EtherCAT Mode

1. Set parameter P1-01 to 0x0Ch for EtherCAT communication and CANopen as the application layer.

2. Restart the system of servo drive.

P1-01● CTL Control Mode and Output Direction

Address：0102H 0103H

Interface：

Panel / Software Communication

Reference：

Default：

Control Mode：

ALL

Unit：

Pulse (P mode); r/min (S mode); N-m (T mode)

Range：

00 ~ 0x110F

Format：

Hex

Data Size：

16-bit

Settings：

Control mode settings

PT PR S T Sz Tz PT PR S T Sz Tz

Single Mode Dual Mode 00 ▲ 06 ▲ ▲ 01 ▲ 07 ▲ ▲ 02 ▲ 08 ▲ ▲ 03 ▲ 09 ▲ ▲ 04 ▲ 0A ▲ ▲ 05 ▲ 0B N/A

Multiple Mode 0C CANopen Mode 0E ▲ ▲ ▲ 0D ▲ ▲ 0F ▲ ▲ ▲

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PR: Position control mode. The command is from the internal signal. Execution of 64 positions is via DI.POS0 ~ POS5. A variety of homing control is also provided.

S: Speed control mode. The command is from the external signal or internal signal. Execution of the command selection is via DI.SPD0 and DI.SPD1.

T: Torque control mode. The command is from the external signal or internal signal. Execution of the command selection is via DI.TCM0 and DI.TCM1.

Sz: Zero speed / internal speed command

Tz: Zero torque / internal torque command Dual Mode: The control mode selection is via DI signals. For example, either PT or S control

mode can be selected via DI signal, S-P (see Table A). Multiple Mode: The control mode selection is via DI signals. For example, PT, PR or S control

mode can be selected via DI signals, S-P and PT-PR (see Table A). Torque output direction settings

Direction 0 1

Forward

Reverse

Discrete I/O Setting

1: When switching to different mode, digital inputs/outputs (P2-10 ~ P2-22) will be set to the default value according to the mode you selected. 0: When switching to different mode, the setting value of digital inputs/outputs (P2-10 ~ P2-22)

will remain the same and will not be changed.

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2.2 TwinCAT Setup

A lot of software can be applied to configure EtherCAT system. The following procedures are the example of TwinCAT of Beckhoff. Please install the software properly before you start to configure the system.

1. Copy Delta XML description to the folder the TwinCAT installed (usually C:\TwinCAT\Io\EtherCAT).

2. Restart the TwinCAT.

3. The configuration procedure can be started by applying TwinCAT manager which shown as below.

Figure 4

4. Install the Network Interface Card (NIC) for EtherCAT communication.  Select Options → Show Real Time Ethernet Compatible Devices.

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Figure 5

 Select the correct Adapter from the devices (NICs) installed in the computer

for EtherCAT communication and click “Install”.

Figure 6

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5. Open a new project from the drop down menu File → new.

6. Right click I/O Devices and select Scan Devices or Press <F5> to scan the devices. Click OK in the pop-up dialog window to confirm the information.

Figure 7

Figure 8

7. Find Device [n] (EtherCAT), select this device and click OK.

Figure 9

8. Click Yes to scan for boxes.

Figure 10

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9. Click Yes to Add drives to NC-Configuration.

Figure 11

10. Click No and TwinCAT will be switched to Config mode.

Figure 12

11. TwincAT is in Config Mode. In the left panel, it shows Device (EtherCAT) and you can find ASDA A2-E CoE Drive.

Figure 13

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12. Select the Drive (ASDA A2-E) and in Online tab you can check if the device’s EtherCAT state machine (ESM) is in PREOP state.

Figure 14

13. Double click on Drive (ASDA A2-E CoE Drive) and it will show:

2nd TxPDO – CoE Tx PDO mapping 3rd RxPDO – CoE Rx PDO mapping WcState InfoData

Figure 15

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14. Set the communication cycle* and the default value is 2ms.  Select NC-Task 1 SAF in the left window, and set Cycle ticks as

communication cycle (The minimum value is 1ms) in the right window.

Figure 16

*The communication cycle time, SYNC0 cycle time, and PDO cycle time should be

set to the same value.

15. Set Following Error Calculation to Extern.  Select Axis 1_Drive in the left window → In parameter column of the right

window, select Extern in Following Error Calculation → click Download and then click OK in pop-up dialog.

Figure 17

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16. Switch TwinCAT to Run Mode.  Press to generate Mappings → press to check confiugration → and

press to activate configuration. TwinCAT will be switched to Run Mode and then click OK in pop-up dialog.

Figure 18

17. Enable the axis (Servo On).

 Under NC-Configuration of the left window, select Axis 1 → select Online

tab in the right window → click Set.

Figure 19

 In pop-up dialog, click All to enable the motor.

Figure 20

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18. In Online tab, there are two different speed levels of jogging buttons for forward and

backward movement which can test the system. During the operation, please Be Ensured that the movement would not damage your system and endanger the personnel safety.

Figure 21

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2.3 Synchronization Modes Setting

2.3.1 Two Synchronization Modes of Delta Servo

ASDA A2-E supports two synchronization modes, Free Run mode and DCSynchronous mode. Please note that the asynchronous Free Run mode is still under the definition of “Synchronization Modes” within EtherCAT specification guide.

 Free Run Mode (Asynchronous)

The master and slaves are running in an asynchronous manner. The master and the slave both have their own clock to calculate the time. In other words, there is no synchronous clock between the master and the slave. A command sent by the master and a reply from the slave only consists with a sequential order instead of strict clock timing. For example, a master sends a PDO at tick t1 and the slave will receive it at tick t1 or tick t2 and vice versa.

EtherCAT

Data Frame

EtherCAT

Data Frame

EtherCAT

Data Frame

EtherCAT

Communication

Frame

ASDA-A2-E

Application

(Free Run)

Application

Task

Application

Task

Application

Task

Application

Task

No EtherCAT frame

Figure 22 Free Run Mode synchronization

 DC-Synchronous Mode (SYNC0 synchronization)

There exists a clock tick for the master and all slaves operation. A data sent by the master will be received by slave(s) at the same clock interval. The master will inform all slaves about its clock and ask slaves to align according to the time. A strict clock tick is always running within this system.

EtherCAT

Data Frame

EtherCAT

Data Frame

EtherCAT

Communication

Frame

ASDA-A2-E Application

(SYN0 Synchronization)

Application

Task

Application

Task

SYN0 Event SYN0 Event

Figure 23 DC-Synchronous mode synchronization

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2.3.2 Select the Synchronization Mode

1. Select Drive (ASDA A2-E CoE Drive) in the left window.

2. The DC tab in the right window, users can select DC-Synchronous or Free Run as the Operation Mode. This is for selecting synchronous or asynchronous mode.

Figure 24

2.3.3 Synchronous Clock Time Setting

1. Select NC-Task 1 SAF in the left window.

2. Click Task in the right window.

3. Cycle ticks are the data exchanging period under the Task tab.

Figure 25

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The unit of cycle for SYNC0 cycle time is 1ms.

SYNC0 cycle time supported

1ms (PDO cycle time = 1ms) 2ms (PDO cycle time = 2ms) 3ms (PDO cycle time = 3ms) …

* SYNC0 cycle time is used to define PDO cycle time.

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2.4 PDO Mapping

The PDO mapping Objects are allocated from index 0x1600 to 0x1603 for RxPDOs and 0x1A00 to 0x1A03 for TxPDOs in Object Dictionary.

2.4.1 Default PDO Mappings

The following tables are the default PDO mappings of ASDA A2-E CoE Drive for cyclic data exchange and are also defined in EtherCAT Slave Information file (XML file).

 1st PDO Mapping

RxPDO

(0x1600)

Control Word

(0x6040)

Target Position

(0x607A)

Target Velocity

(0x60FF)

Target Torque

(0x6071)

Mode of Operation

(0x6060)

TxPDO

(0x1A00)

Status Word

(0x6041)

Actual Position

(0x6064)

Actual Velocity

(0x606C)

Actual Torque

(0x6077)

Mode of Operation Display

(0x6061)

 2nd PDO Mapping (default PDO assignment)

RxPDO

(0x1601)

Control Word

(0x6040)

Target Position

(0x607A)

TxPDO

(0x1A01)

Status Word

(0x6041)

Actual Position

(0x6064)

 3rd PDO Mapping

RxPDO

(0x1602)

Control Word

(0x6040)

Target Velocity

(0x60FF)

TxPDO

(0x1A02)

Status Word

(0x6041)

Actual Position

(0x6064)

Actual Velocity

(0x606C)

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 4th PDO Mapping

RxPDO

(0x1603)

Control Word

(0x6040)

Target Torque

(0x6071)

TxPDO

(0x1A03)

Status Word

(0x6041)

Actual Position

(0x6064)

Actual Torque

(0x6077)

2.4.2 Re-define a PDO Mapping

Setup procedure

1. Set 【RxPDO Assignment:0x1C12:0/ TxPDO Assignment: 0x1C13:0】to 0x0 for

disabling the PDO assignment.

2. Set 【RxPDO mapping entry: ex. 0x1601:0/ TxPDO mapping entry: ex. 0x1A01:0】

to 0x0 for disabling the PDO mapping entry setting.

3. Set 【RxPDO mapping entry: ex. 0x1601:0 - 0x1601:7/ TxPDO mapping entry: ex.

0x1A01:0 - 0x1A01:7】.

4. Set 【RxPDO mapping entry: ex. 0x1601:0/ TxPDO mapping entry: ex. 0x1A01:0】

to the number of mapping entries in PDO mapping.

5. Set 【RxPDO Assignment:0x1C12:1/ TxPDO Assignment: 0x1C13:1】to PDO

assignment.

6. Set 【RxPDO Assignment:0x1C12:0/ TxPDO Assignment: 0x1C13:0】to 0x1 for

enabling the PDO assignment.

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2.4.3 Using TwinCAT

1. Press or Shift and F4 to set/reset TwinCAT to Config Mode (Click OK in pop-up dialog).

2. Select Drive (ASDA A2-E CoE Drive) in the left window. In Process Data field, you can change PDO Assignment for another PDO mapping.

3. Right click the PDO Content Window, and find the PDO mapping that you desire to set, and then you can configure (Insert/Delete/Edit/Move Up/Move Down) the PDO mapping content.

(8 PDOs is the maximum number of PDO which can be assigned in every PDO mappings.)

Figure 27

Figure 28 ASD-A2-E CoE drive Object List

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Revision April, 2015 2-17

4. After changing the PDO Assignment, press or F4 to reload I/O devices. (Click No in pop-up dialog and stay in Config Mode.)

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Chapter 3 EtherCAT

Communication States

ASDA A2-E supports four EtherCAT communication states which are shown as below:

 Init (Initialization)  Pre-Operational  Safe-Operational  Operational

Init

Pre-operational

Safe-operational

Operational

(OI)

(IP) (PI)

(OP)

(PS)

(SP)

(SO)

(OS)

(SI)

Figure 29 The EtherCAT State machine

EtherCAT host controller can switch the states. Different state provides different service.

State Description

Init

After power on, the system will be located in this state when hardware is initialized without any error.

No communication packet is sent at this stage.

Pre-Operational

The mailbox can be accessed via SDO (Service Data Object). The Emergency message will be sent to the host controller if any

alarm occurs.

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Safe-Operational

Except SDO, for accessing Mailbox, the PDO (Process Data Object) can only be applied for Process Data Input (TxPDO) at this stage.

Operational

The full function of SDO and PDO (TxPDO and RxPDO) are available now.

3.1 State Transition Operation

The EtherCAT host will send different state transition command for requesting different service.

State Change Description

 Master will define the slave address and register SyncManager (0/1),

and it is possible to access mailbox.

 Master will command the slave to switch to Safe-Operational state.

 SDO from the master will be employed for the settings of PDO

mapping.

 Master will define FMMU and register SyncManager (2/3), and slaves

keep sending the PDO (TxPDO) packets to the master.

 Master requests the Slave to switch to Operational state.

 Master starts to send PDO (RxPDO).  The distributed clock synchronization procedure takes place between

the master and slaves.

PI, SI, OI

 All communication functions, including SDO and PDO cannot work.  Switch to Init State.

SP, OP

 Disable PDO function.  Switch to Pre-Operational state

 Master stops sending Process Data Output (RxPDO).  Switch to Safe-Operational state

Revision April, 2015 4-1

Chapter 4 EtherCAT

Troubleshooting

Q: Why my TwinCAT cannot find EtherCAT Device from all installed NIC

(Network Interface Card) and only shows RT-Ethernet devices?

1. Please refer to TwinCAT setup procedure and make sure NIC is installed properly.

2. Check if the cable is correctly connected and L/A LED is lit.

Q: The dialog shows “Unknown device type found” while using TwinCAT Scan

boxes.

A: Copy XML description of the ASDA-A2-E to TwinCAT device description folder

(usually in C:\TwinCAT\Io\EtherCAT) and restart TwinCAT System.

Q: Why does EtherCAT state machine only show INIT in Current State and blank

in DLL status when TwinCAT is in Config Mode?

Figure 30

1. Set parameter P1-01 to 0x0C (EtherCAT communication mode).

2. Check the wiring from the host to EtherCAT communication port CN6A for input and CN6B for output on servo drive. If the Link LED lit, it indicates that the physical connection is correct and the drive is connecting.

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Q: TwinCAT shows “following error”.

Figure 31

A: Set “Following Error Calculation” to Extern:

1. Select Axis 1_Drive in the left window.

2. In Parameter tab, select Extern in Following Error Calculation.

3. Download and click OK in pop-up dialog.

Figure 32

Q: ASDA A2-E servo drive shows AL185

A: This alarm message occurs because of the disconnection of EtherCAT cable

between the host and the slave. Please check the wiring. After checking the connection of the cable, it is necessary to re-servo on the drive or set OD 0x6040 to 0x86 for fault reset.

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Q: ASDA A2-E servo drive shows AL180

A: Working under Operational state and losing three consecutive PDOs will lead to

this alarm.

1. A mechanism inside Delta Servo Drive can be used to monitor the error when receiving PDO by setting P0-02 to 121. If the number keeps increasing, it can be interpreted as the exaggerated jitter of PDO or server interference on the communication cable.

2. Select drive and click Online. If the number in the columns of Lost Frames and Rx Errors keeps increasing, it means the system have severe interference.

Figure 33

Q: ASDA A2-E servo drive servo drive shows AL3E1

A: Working under Operational state with CANopen CSP/CSV/CST mode and losing

two consecutive PDOs will lead to this alarm.

1. Check the reference clock whether with big time jitter

2. Fault reset with control word 0x6040.7 = 1

Q: ASDA A2-E servo drive shows AL3E3

A: Working under Operational state with CANopen CSP/CSV/CST mode and losing

two consecutive PDOs will lead to this alarm.

1. Make sure the host controller periodically and stably sends PDO.

2. Make sure grounding and wiring are both correct.

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Chapter 5 CANopen Operation

Mode

5.1 Profile Position Mode

5.1.1 Description

Servo drive (hereinafter referred to as “Drive”) receives position command from the host (external) controller (hereinafter referred to as “Host”) and then controls servo motor to reach the target position.

Pulse of User-defined Unit Definition: Pulse of User Unit (PUU): No. of





= 1280000 





5.1.2 Operation Procedures

1. Set 【Mode of operations:6060h】to profile position mode (0x01).

2. Set 【Target position:607Ah】to the target position (unit: PUU).

3. Set 【Profile velocity:6081h】to the profile velocity (unit: PUU per second).

4. Set 【Profile acceleration:6083h】to plan acceleration slope (millisecond from 0rpm to 3000rpm).

5. Set 【Profile deceleration:6084h】to plan deceleration slope (millisecond from 0rpm to 3000rpm).

6. Set 【Controlword:6040h】as (0x06 > 0x07 > 0x0F) to Servo On the drive and enable the motor.

7. Read 【Statusword:6064h】to obtain feedback position of the motor.

8. Read 【Statusword:6041h】to obtain the drive status of the following error, setpoint acknowledge and target reached.

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5.1.3 Advanced Setting Procedures

1. Host could obtain more information about profile position mode.

 Read 【Position demand value:6062h】to obtain the internal position command.

(unit: PUU)

 Read 【Position actual value*:6063h】to obtain the actual position value. (unit:

increments)

2. Following error

 Set 【Following error window:6065h】 to define the range of tolerated position

value, which also defines the range of the position demand value. (unit: PUU)

 Read 【Following error actual value:60F4h】to obtain the actual value of the

following error. (unit: PUU)

following error

window

position

no following error

reference position

following error

accepted following error tolerance

following error

window

Reference position

3. Position window

 Set 【Position window:6067

】to define a symmetrical range of the accepted

positions which is relative to the target position. (unit: PUU)

 Set 【Position window time:6068h】to plan activation time of target reached.

(unit: millisecond)

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position not reached

position window posi tion window

position

position reached

target position

position not reached

accepted position range

Position reached

5.1.4 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6062h Position demand value [PUU] INTEGER32 RO 6063h Position actual value [increment] INTEGER32 RO 6064h Position actual value INTEGER32 RO 6065h Following error window UNSIGNED32 RW 6067h Position window UNSIGNED32 RW 6068h Position window time UNSIGNED16 RW 607Ah Target position INTEGER32 RW 6081h Profile velocity UNSIGNED32 RW 6083h Profile acceleration UNSIGNED32 RW 6084h Profile deceleration UNSIGNED32 RW 6093h Position factor UNSIGNED32 RW 60F4h Following error actual value INTEGER32 RO

60FCh Position demand value INTEGER32 RO

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5.2 Interpolation Position Mode

5.2.1 Description

The Host sends PDO periodically. With each PDO, the Host sends the next reference Xi, differece△Xi and controlword to the drive. While the next SYNC0 is receiving, the drive interpolates from X

i-1

to X

 Extrapolation, Jitter Compensation

- When PDO is delayed, the interpolator will predict the speed and position for the next time according to the last acceleration.

- When PDO delays for 2*cycle, the Drive should stop and send out an error message.

 PDO Rx/Tx Mapping record

- The Drive receives PDOs from the Host

 32 bit reference position [position increment]

 16 bit symmetrical difference [increments]

△Xi = (X

i+1

– X

i-1

)/2 (It is also the same as velocity.)

 16 bit controlword

The Drive receives PDOs from the Host (Every PDO contains 8 bytes field which is shown as below.)

32 bit reference position 16 bit difference 16 bit controlword

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5.2.2 Operation Procedures

1. Set 【Mode of operations:6060h】to interpolation position mode(0x07).

2. Set 【Interpolation sub mode select:60C0h】to Interpolation mode.

 If 60C0h is [0], the Host does not send [60C1h Sub-2]. It could save calculating

time of the host and the Drive could also work.

 If 60C0h is [-1], the Host needs to send [60C1h Sub-2] and the Drive works more

precisely.

3. Set 【Interpolation time period:60C2h】to predict the cycle that SYNC0 receives PDO.

 60C2h Sub-1 for Interpolation time units. The range is from 1ms to 20ms.

- 60C2h Sub-2 for Interpolation time index. The value is always -3, meaning the interpolation time unit is 10-3 second.

4. Drive PDO Rx:

 60C1h Sub-1 for Pos Cmd (32-bit)

 6040h Sub-0 for ControlWord.

5.2.3 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6093h Position factor UNSIGNED32 RW

60C0h Interpolation sub mode select INTEGER16 RW 60C1h Interpolation data record ARRAY RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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5.3 Cyclic Synchronous Position Mode

5.3.1 Description

The Host plans the path in Cyclic Synchronous Position mode and sends PDO periodically. With each PDO, the Host sends the target position and controlword to the drive. Velocity offset and torque offset can be used as velocity and torque feedforwad.

5.3.2 The Function of CSP Mode

Position

control

Velocity

control

Torque

control

Target

position

(607A

)

Position offset (60B0h)

Velocity offset (60B1h)

Torque offset (60B2h)

Position actual value

(6064

)

Velocity actual value

(606C

)

Torque actual value

(6077

)

5.3.3 Operation Procedures

1. Set 【Mode of operations:6060h】to cyclic synchronous position mode(0x08).

2. Set 【Interpolation time period:60C2h】 to predict the cycle that SYNC0 receives PDO.

 60C2h Sub-1 for Interpolation time units. The min is from 1ms to 20ms.

- 60C2h Sub-2 for Interpolation time index. The value is always -3, meaning the interpolation time unit is 10-3 second.

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3. Drive PDO Rx:

 607Ah for Target Pos Cmd (32-bit).

 6040h Sub-0 for ControlWord.

5.3.4 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO

607A h Target position INTEGER32 RW 60B0 h Position offset INTEGER32 RW

6064 h Position actual value INTEGER32 RO

60B1

Velocity offset INTEGER32 RW

606C

Velocity actual value INTEGER32 RO

60B2

Torque offset INTEGER16 RW

6077

Torque actual value INTEGER16 RO

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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5.4 Homing Mode

5.4.1 Description

This mode could help the drive to find the home position. Users can specify the speed, acceleration and method of homing.

5.4.2 Operation Procedures

1. Set【Mode of operations:6060h】to the homing mode(0x06).

2. Set【Home offset:607Ch】.

3. Set【Homing method:6098h】. The method range is 1 to 35. (Refer to OD-6098h definition which shows below.)

4. Set【Homing speeds:6099h Sub-1】in order to set speed search for switching. (unit: rpm)

5. Set【Homing speeds:6099h Sub-2】in order to set speed during the search for zero. (unit: rpm)

6. Set【Homing acceleration:609Ah】for homing acceleration. (unit: millisecond from 0rpm to 3000rpm)

7. Set【Controlword:6040h】to (0x06  0x07  0x0F) to Servo ON the drive and enable the motor.

8. Set【Controlword:6040h】to (0x0F  0x1F) to find Home Switch and do homing.

9. Read【Statusword:6041h】to obtain the drive status.

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5.4.3 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 607Ch Home offset INTEGER32 RW 6093h Position factor UNSIGNED32 RW 6098h Homing method INTEGER8 RW 6099h Homing speed ARRAY RW 609Ah Homing acceleration UNSIGNED32 RW

(Please refer to the following “Details of Objects” section for more detailed descriptions.)

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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.

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5.5.3 Advanced Setting Procedures

1. Host could obtain the information of velocity mode.

 Read【Velocity demand value:606Bh】to inquire the internal velocity command.

(unit: 0.1rpm)

 Read【Velocity actual value:606Ch】to obtain the actual velocity value. (unit:

0.1rpm)

2. Host could set velocity monitor threshold.

 Set【Velocity window:606Dh】to allocate velocity reached zone. (unit: 0.1rpm)

 Set【Velocity widnow time:606Eh】in order to ensure the activation time is

before velocity reached. (unit: millisecond)

 Set【Velocity threshold:606Fh】to allocate zero speed level. (unit: 0.1rpm)

5.5.4 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW

6061h Modes of operation display INTEGER8 RO 606Bh Velocity demand value INTEGER32 RO 606Ch Velocity actual value INTEGER32 RO

Index Name Type Attr.

606Dh Velocity window UNSIGNED16 RW

606Eh Velocity window time UNSIGNED16 RW

606Fh Velocity threshold UNSIGNED16 RW

60FFh Target velocity INTEGER32 RW

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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5.6 Cyclic Synchronous Velocity Mode

5.6.1 Description

The Host plans the path in Cyclic Synchronous Velocity mode. In this mode, the Host sends PDO periodically including target position and controlword to drive. In addition, velocity offset and torque offset can be used as the velocity and torque feedforwad.

5.6.2 The Function of CSV Mode

Velocity

control

Torque control

Target

velocity

(60FF

)

Velocity offset (60B1h)

Torque offset (60B2h)

Position actual value

(6064

)

Velocity actual value

(606C

)

Torque actual value

(6077

)

5.6.3 Operation Procedures

1. Set 【Mode of operations:6060h】to cyclic synchronous velocity mode(0x09).

2. Set 【Interpolation time period:60C2h】 to predict the cycle that SYNC0 receives PDO.

 60C2h Sub-1 for Interpolation time units. The min is from 1ms to 20ms.

- 60C2h Sub-2 for Interpolation time index. The value is always -3, meaning the interpolation time unit is 10-3 second.

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3. Drive PDO Rx:

 60F Fh for Target Velocity Cmd (32-bit)

 6040h Sub-0 for ControlWord

5.6.4 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO

60FF h Target velocity INTEGER32 RW 60B1

Velocity offset INTEGER32 RW 606Ch Velocity actual value INTEGER32 RO 6064 h Position actual value INTEGER32 RO

60B2

Torque offset INTEGER16 RW

6077

Torque actual value INTEGER16 RO

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5.7 Profile Torque Mode

5.7.1 Description

The drive could receive torque command and plan profile torque slope.

5.7.2 Operation Procedures

1. Set 【Mode of operations:6060h】to profile torque mode(4).

2. Set 【Controlword:6040h】as (0x6  0x7  0x0F) to Servo ON the drive and enable the motor.

(After Servo On the drive, the internal torque command will be reset and OD-6071h

will be cleared. It means the drive is servo-on and starts to receive the torque command.)

3. Set 【Torque slope:6087h】to plan torque slope time. (unit: millisecond from 0 to 100% rated torque)

4. Set 【Target torque:6071h】to the target torque. The unit is given one rated torque in a thousand. (OD-6071h will be cleared to 0 if OD-6060h [Mode] changed. ServoOff or Quick-Stop is activated.)

5.7.3 Advanced Setting Procedures

Host could obtain the information of torque mode.

 Read 【Torque demand value:6074h】 to obtain the output value of the torque limit

function. (unit: one rated torque in a thousand)

 Read 【Torque rated current:6075h】to obtain the rated current determined by the

motor and drive type. (unit: multiples of milliamp)

 Read 【Torque actual value:6077h】to obtain the instantaneous torque in servo

motor. (unit: one rated torque in a thousand)

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 Read 【Current actual value:6078h】to obtain the instantaneous current in servo

motor. (unit: one rated torque in a thousand)

5.7.4 Associated Object List

Index Name Type Attr. 6040h Controlword UNSIGNED16 RW 6041h Statusword UNSIGNED16 RO 6060h Modes of operation INTEGER8 RW 6061h Modes of operation display INTEGER8 RO 6071h Target torque INTEGER16 RW 6074h Torque demand value INTEGER16 RO 6075h Motor rated current UNSIGNED32 RO 6077h Torque actual value INTEGER16 RO 6078h Current actual value INTEGER16 RO 6087h Torque slope UNSIGNED32 RW

(Please refer to the following “Details of Objects” section for more detailed descriptions.)

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5.8 Cyclic Synchronous Torque Mode

5.8.1 Description

The Host plans the path in Cyclic Synchronous Torque mode. In this mode, the Host sends PDO periodically including target position and controlword to drive. In addition, velocity offset and torque offset can be used as the velocity and torque feedforwad.

5.8.2 The Function of CST Mode

Torque

control

Target torque

(6071

)

Torque offset (60B2h)

Position actual value

(6064

)

Velocity actual value

(606C

)

Torque actual value

(6077

)

5.8.3 Operation Procedures

1. Set【Mode of operations:6060h】to cyclic synchronous torque mode (0x0A).

2. Set【Interpolation time period:60C2h】to predict the cycle that SYNC0 receives PDO.

 60C2

Sub-1 for Interpolation time units. The min is from 1ms to 20ms.

- 60C2h Sub-2 for Interpolation time index. The value is always -3, meaning the interpolation time unit is 10

-3

second.

3. Drive PDO Rx:

 6071

for Target Torque Cmd (16-bit)

 6040h Sub-0 for ControlWord.

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5.8.4 Associated Object List

Torque offset INTEGER16 RW

6077

Torque actual value INTEGER16 RO 606Ch Velocity actual value INTEGER32 RO 6064 h Position actual value INTEGER32 RO

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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5.9 Limit Position Handling Procedure

5.9.1 Description

Drive will switch to Quick-Stop status while traveling to the position of positive or negative limit sensors, and it can be handled by the following procedures.

5.9.2 Operation Procedures

1. The servo panel will show the alarm while sensors are close to the positive or negative limit. The motor is controlled by a deceleration slope to stop and it is at Quick-Stop status. The drive will keep in servo-on status but will not accept the further motion command.

2. Set 【Controlword:6040h】to 0x8F for fault reset and clearing the alarm displayed on the panel.

3. Set 【Controlword:6040h】to 0x1F/0x0F for Operation Enabled, and then the servo can accept the motion command again.

4. For a motor at its limit position, there must be a command which can drive the motor to the backward direction. Or the alarm will be triggered again while the motor starts moving.

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5.10 Touch Probe Function

5.10.1 Description

Touch Probe function can be enabled by the DI on CN7 or the encoder; among that, the feedback position can be latched as positive or negative edge with DI13 on CN7. The time of latch position is shorter than 5 µs and it is used to execute high speed performance in measuring or packaging applications.

5.10.2 Touch Probe Function

The current status of Touch Probe can be obtained by object 60B8h. The definition of each bit is as the followings.

Bit Value Definition

Switch off touch probe 1

Enable touch probe 1

Trigger first event

Continuous

Trigger with touch probe 1 input

Trigger with zero impulse signal

3 0

Reserved

Switch off sampling at positive edge of touch

probe 1

Enable sampling at positive edge of touch probe 1

Switch off sampling at negative edge of touch

probe 1

Enable sampling at negative edge of touch probe

6、7

Reserved

Switch off touch probe 2

Enable touch probe 2

Trigger first event

Continuous

Trigger with touch probe 2 input

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Trigger with zero impulse signal

Reserved

Switch off sampling at positive edge of touch

probe 2

Enable sampling at positive edge of touch probe 2

Switch off sampling at negative edge of touch

probe 2

Enable sampling at negative edge of touch probe

14、15

Reserved

5.10.3 Touch Probe Status

The current status of Touch Probe can be obtained by object 60B9h. The definition of each bit is as the followings.

Bit Value Definition

0 Touch probe 1 is switched off 1 Touch probe 1 is enabled

0 Touch probe 1 has no positive edge value stored 1 Touch probe 1 has positive edge value stored

0 Touch probe 1 has no negative edge value stored 1 Touch probe 1 has negative edge value stored

3 ~ 5 0 Reserved

0 Trigger with touch probe 1 input 1 Trigger with zero impulse signal

0,1

Toggle with every update of Touch probe 1 value

Stored

0 Touch probe 2 is switched off 1 Touch probe 2 is enabled

0 Touch probe 2 has no positive edge value stored 1 Touch probe 2 has positive edge value stored

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0 Touch probe 2 has no negative edge value stored 1 Touch probe 2 has negative edge value stored

11 ~ 13

0 Reserved

0 Trigger with touch probe 2 input 1 Trigger with zero impulse signal

0,1

Toggle with every update of Touch probe 2 value

Stored

5.10.4 Associated Object List

Index Name Type Attr.

60B8h

Touch probe function UNSIGNED16 RW

60B9h

Touch probe status UNSIGNED16 RO

60BAh

Touch probe pos1 pos value INTEGER32 RO

60BBh

Touch probe pos1 neg value INTEGER32 RO

60BCh

Touch probe pos2 pos value INTEGER32 RO

60BD

Touch probe pos2 neg value INTEGER32 RO

(Please refer to the following “Details of Objects” section for more detailed descriptions)

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Revision Aril, 2015 6-1

Chapter 6 Object Dictionary

Entries

6.1 Specifications for Objects

6.1.1 Object Type

Object Name Comments

VAR A single value such as an UNSIGNED8, Boolean, float, INTEGER16

etc.

ARRAY

multiple data field object where each data field is a sample variable of the SAME basic data type e.g. array of UNSIGNED16 etc. Subindex 0 is UNSIGNED8 but is not part of the ARRAY data

RECORD A multiple data field object where the data fields may be any

combination of simple variables. Sub-index 0 is UNSIGNED8 but is not part of the RECORD data

6.1.2 Data Type

Please refer to CANopen Standard 301.

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6.2 Overview of Object Group 1000

Index Object Type Name Data Type Access 1000h VAR device type UNSIGNED32 RO 1001h VAR error register UNSIGNED8 RO

1600h~03h RECORD Receive PDO mapping UNSIGNED32 RW

1A00h~03h RECORD Transmit PDO mapping UNSIGNED32 RW

※ Only 1001

could be mapped to PDO.

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6.3 Overview of Object Group 6000

Index

Object

Type

Name Data Type Access Mappable

603Fh VAR Error Code UNSIGNED16 RO Y 6040h VAR Controlword UNSIGNED16 RW Y 6041h VAR Statusword UNSIGNED16 RO Y 605Bh VAR Shutdown option code INTEGER16 RW N 605Eh VAR Fault reaction option code INTEGER16 RW N 6060h VAR Modes of operation INTEGER8 RW Y 6061h VAR Modes of operation display INTEGER8 RO Y 6062h VAR Position demand value [PUU] INTEGER32 RO Y 6063h VAR Position actual value

[increment]

INTEGER32 RO Y

6064h VAR Position actual value INTEGER32 RO Y 6065h VAR Following error window UNSIGNED32 RW Y 6067h VAR Position windows UNSIGNED32 RW Y 6068h VAR Position window time UNSIGNED16 RW Y 606Bh VAR Velocity demand value INTEGER32 RO Y 606Ch VAR Velocity actual value INTEGER32 RO Y 606Dh VAR Velocity window UNSIGNED16 RW Y 606Eh VAR Velocity window time UNSIGNED16 RW Y 606Fh VAR Velocity threshold UNSIGNED16 RW Y 6071h VAR Target torque INTEGER16 RW Y 6072h VAR Max torque UNSIGNED16 RW Y 6074h VAR Torque demand value INTEGER16 RO Y 6075h VAR Motor rated current UNSIGNED32 RO Y 6076h VAR Motor rated torque UNSIGNED32 RO Y 6077h VAR Torque actual value UNSIGNED16 RO Y 6078h VAR Current actual value INTEGER16 RO Y 607Ah VAR Target position INTEGER32 RW Y

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Index

Object

Type

Name Data Type Access Mappable

607Ch VAR Home Offset INTEGER32 RW Y 607Dh ARRAY Software position limit INTEGER32 RW Y 607Eh VAR Polarity UNSIGNED8 RW Y 607Fh VAR Max profile velocity UNSIGNED32 RW Y 6080h VAR Max motor speed UNSIGNED32 RW Y 6081h VAR Profile velocity UNSIGNED32 RW Y 6083h VAR Profile acceleration UNSIGNED32 RW Y 6084h VAR Profile deceleration UNSIGNED32 RW Y 6085h VAR Quick stop deceleration UNSIGNED32 RW Y 6086h VAR Motion profile type INTEGER16 RW Y 6087h VAR Torque slope UNSIGNED32 RW Y 6093h ARRAY Position factor UNSIGNED32 RW Y 6098h VAR Homing method INTEGER8 RW Y 6099h ARRAY Homing speeds UNSIGNED32 RW Y 609Ah VAR Homing acceleration UNSIGNED32 RW Y 60B0h VAR Position offset INTEGER32 RW Y 60B1h VAR Velocity offset INTEGER32 RW Y 60B2h VAR Torque offset INTEGER16 RW Y 60B8h VAR Touch probe function UNSIGNED16 RW Y

60B9h VAR Touch probe status UNSIGNED16 RO Y 60BAh VAR Touch probe pos1 pos value INTEGER32 RO Y 60BBh VAR Touch probe pos1 neg value INTEGER32 RO Y 60BCh VAR Touch probe pos2 pos value INTEGER32 RO Y 60BDh VAR Touch probe pos2 neg value INTEGER32 RO Y

60C0h VAR Interpolation sub mode select INTEGER16 RW Y

60C1h ARRAY Interpolation data record UNSIGNED16/32 RW Y

60C2h RECORD Interpolation time period SIGNED8 RW Y

60C5h VAR Max acceleration UNSIGNED32 RW Y

60C6h VAR Max deceleration UNSIGNED32 RW Y

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Index

Object

Type

Name Data Type Access Mappable

60F2h VAR Positioning option code UNSIGNED16 RW Y

60F4h VAR Following error actual value INTEGER32 RO Y 60FCh VAR Position demand value INTEGER32 RO Y 60FDh VAR Digital inputs UNSIGNED32 RO Y

60FFh VAR Target velocity INTEGER32 RW Y

6502h VAR Supported drive modes UNSIGNED32 RO Y

Delta parameter definition

2xxx VAR Parameter Mapping INTEGER16/32 RW Y

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6.4 Details of Objects

Object 1000h: Device Type

INDEX 1000h Name device type Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping No Value Range UNSIGNED32 Default Value 04020192 h : A2 Series

Object 1001h: Error Register

INDEX 1001h Name error register Object Code VAR Data Type UNSIGNED8 Access RO PDO Mapping Yes Value Range UNSIGNED8 Default Value 0

Object 1600

~ 1604h: Receive PDO Mapping Parameter

INDEX 1600h ~ 1603h Name Receive PDO mapping Object Code RECORD Data Type PDO Mapping Access RW PDO Mapping No

Sub-Index 0 Description Number of mapped application objects in

PDO Data Type UNSIGNED8 Access RW

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PDO Mapping No Value Range 0: deactivated

1~8: activated Default Value 0

Sub-Index 1~8 Description PDO mapping for the nth application object

to be mapped Data Type UNSIGNED32 Access RW PDO Mapping No Value Range UNSIGNED32 Default Value 0

PDO Mapping

0 1 2 3

bbbb

cccc

aaaa

yy zz xx

08h 20h 10h

Object Dictionary

cccc zz

Application

Object 3

bbbb yy

Application

Object 2

aaaa xx

Application

Object 1

Application

Object 2

Application Object 1Application Object 3

Object 1A00h ~ 1A04h: Transmit PDO Mapping Parameter

Sub-Index 0 Description Number of mapped application objects in

PDO Data Type UNSIGNED8

INDEX 1A00h ~ 1A03h Name Transmit PDO mapping Object Code RECORD Data Type PDO Mapping Access RW PDO Mapping No

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Access RW PDO Mapping No Value Range 0: deactivated

1~8: activated Default Value 0

Sub-Index 1~8 Description PDO mapping for the nth application object

to be mapped Data Type UNSIGNED32 Access RW PDO Mapping No Value Range UNSIGNED32 Default Value 0

Object 1C12h : RxPDO assign

INDEX 1C12h Name RxPDO assign Object Code RECORD Data Type PDO Mapping assign Access RW PDO Mapping No

Sub-Index 0 Description Number of assigned PDO mapping Data Type UNSIGNED8 Access RW PDO Mapping No Value Range 0: deactivated

1: One PDO mapping be assigned to

SycManager2 for RxPDO Default Value 1

Sub-Index 1 Description Index of assigned PDO mapping Data Type UNSIGNED16 Access RW PDO Mapping No

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Value Range 1600 h to 1603 h Default Value 1601 h

Object 1C13h : TxPDO assign

INDEX 1C13h Name TxPDO assign Object Code RECORD Data Type PDO Mapping assign Access RW PDO Mapping No

Sub-Index 0 Description Number of assigned PDO mapping Data Type UNSIGNED8 Access RW PDO Mapping No Value Range 0: deactivated

1: One PDO mapping be assigned to

SycManager3 for TxPDO Default Value 1

Sub-Index 1 Description Index of assigned PDO mapping Data Type UNSIGNED16 Access RW PDO Mapping No Value Range 1A00 h to 1A03 h Default Value 1A01 h

Object 603Fh: Error code (error code of CANopen defined)

INDEX 603Fh Name Errorcode Object Code VAR Data Type UNSIGNED16 Access RO PDO Mapping Yes Value Range UNSIGNED16

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Default Value 0

Object 6040h: Controlword

INDEX 6040h Name Controlword Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value P1-01 = 0x0C, Default is 0x0004

State Machine

ControlWord

(6040h)

StatusWord

(6041h)

State machine in system context

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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

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:

Profile Position Mode

Homing Mode

Interpolated Position Mode

Profile Velocity Mode

Profile Torque Mode

t1 t2t0 t3 time

Velocity

Single set-point

Velocity

t2 time

Change settings immediately

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Object 6041h: Statusword

INDEX 6041h Name Statusword Object Code VAR Data Type UNSIGNED16 Access RO PDO Mapping Yes Value Range UNSIGNED16 Default Value 0

Data Description

15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0

MSB LSB

Bit Definition

0 Ready to switch on 1 Switch on 2 Operation enabled (status of servo on) 3 Fault (the drive will servo off) 4 Voltage enabled 5 Quick stop 6 Switch on disabled 7 Warning (the drive is still servo on) 8 N/A

9 Remote 10 Target reached 11 Internal limit active (Not supported)

PP HM IP PV PT

Set-point

acknowledge

Homing attained

IP mode active Zero Speed N/A

13 Following error Homing error N/A N/A N/A 14 N/A N/A N/A N/A N/A 15 N/A N/A N/A N/A N/A

Note:

Set-point acknowledge: Trajectory generator has assumed the positioning values Homing attained: Homing mode carried out successfu lly IP mode active: interpolated position mode active – mode is running in IP mode

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Object 605Bh: Shutdown option code

INDEX 605Bh Name Shutdown option code Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value 0 Comment 0:Disable drive function

-1:Dynamic break enable

Object 605Eh: Fault reaction option code

INDEX 605Eh Name Fault reaction option code Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value 2 Comment 0:Disable drive, motor is free to rotate

1:slow down on slow down ramp 2:slow down on quick stop ramp

Object 6060h: Modes of operation

INDEX 6060h Name Modes of operation Object Code VAR Data Type INTEGER8 Access RW PDO Mapping Yes Value Range INTEGER8 Default Value 0 Comment 0: Reserved

1: Profile position mode 3: Profile velocity mode

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4: Profile torque mode 6: Homing mode 7: Interpolated position mode 8: Cyclic synchronous position mode 9: Cyclic synchronous velocity mode 10: Cyclic synchronous torque mode

Object 6061h: Modes of operation display

INDEX 6061h Name Modes of operation display Object Code VAR Data Type INTEGER8 Access RW PDO Mapping Yes Value Range INTEGER8 Default Value 0

Object 6062h: Position demand value

INDEX 6062h Name Position demand value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comment Position command is calculated by

Interpolation theory Unit: PUU

Object 6063h: Position demand value

INDEX 6063h Name Position actual value* Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32

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Default Value 0 Comment Unit: increments

Object 6064h: Position actual value

INDEX 6064h Name Position actual value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comment Unit: PUU

Object 6065h: Following error window

INDEX 6065h Name Following error window Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 3840000 Comment Unit: PUU

Object 6067

: Position window

INDEX 6067h Name Position window Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 100 Comment Unit: PUU

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Object 6068h: Position window time

INDEX 6068h Name Position window time Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value 0 Comment Unit: millisecond

Object 606Bh: Velocity demand value

INDEX 606Bh Name Velocity demand value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Comment Unit: 0.1rpm

Object 606C

: Velocity actual value

INDEX 606Ch Name Velocity actual value Object Code VAR Data Type INTEGER32 Access RO PDO Mapping Yes Value Range INTEGER32 Comment Unit: 0.1rpm

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Object 606Dh: Velocity window

INDEX 606Dh Name Velocity window Object Code VAR Data Type INTEGER16 Access RO PDO Mapping Yes Value Range 0~3000 Default Value 100 Comment Unit: 0.1rpm

Object 606Eh: Velocity window time

INDEX 606Eh Name Velocity window time Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range UNSIGNED16 Default Value 0 Comment Unit: millisecond

Object 606F

: Velocity threshold

INDEX 606Fh Name Velocity threshold Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range 0~2000 Default Value 100 Comment Unit: 0.1rpm

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Object 6071h: Target torque

INDEX 6071h Name Target torque Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range -3000~3000 Default Value 0 Comment Unit: one rated torque in a thousand

Object 6072h: Max torque

INDEX 6072h Name Max torque Object Code VAR Data Type UNSIGNED16 Access RW PDO Mapping Yes Value Range 0~3000 Default Value 3000 Comment Unit: one rated torque in a thousand

Object 6074h: Torque demand value

INDEX 6074h Name Torque demand value Object Code VAR Data Type INTEGER16 Access RO PDO Mapping Yes Value Range INTEGER16 Comment Unit: one rated torque in a thousand

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Object 6075h: Motor rated current

INDEX 6075h Name Motor rated current Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping Yes Value Range UNSIGNED32 Comment Unit: milliamp

Object 6076h: Motor rated torque

INDEX 6076h Name Motor rated torque Object Code VAR Data Type UNSIGNED32 Access RO PDO Mapping Yes Value Range UNSIGNED32 Comment Unit: one rated torque in a thousand

Object 6077h: Torque actual value

INDEX 6077h Name Torque actual value Object Code VAR Data Type INTEGER16 Access RO PDO Mapping Yes Value Range INTEGER16 Comment Unit: one rated torque in a thousand

Object 6078h: Current actual value

INDEX 6078h Name Current actual value Object Code VAR Data Type INTEGER16 Access RO

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PDO Mapping Yes Value Range INTEGER16 Comment Unit: one rated current in a thousand

Object 607Ah: Target position

INDEX 607Ah Name Target position Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comment For Profile position mode 6060h=1

Unit: PUU

Object 607Ch: Home offset

INDEX 607Ch Name Home offset Object Code VAR Data Type INTEGER32 Access RW PDO Mapping Yes Value Range INTEGER32 Default Value 0 Comment Unit : PUU

home offset

Home

Position

Zero

Position

Home offset

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Object 607Dh: Software position limit

INDEX 607Dh Name Software position limit Object Code ARRAY Data Type INTEGER32 Access RW PDO Mapping Yes

Sub-Index 0 Description Number of entries Data Type UNSIGNED8 Access RO PDO Mapping Yes Value Range 2 Default Value 2 Sub-Index 1 Description Min position limit Data Type INTEGER32 Access RW PDO Mapping Yes Value Range -2147483648 ~ +2147483647 Default Value -2147483648 Comment Unit: PUU

Sub-Index 2 Description Max position limit Data Type INTEGER32 Access RW PDO Mapping Yes Value Range -2147483648 ~ +2147483647 Default Value +2147483647 Comment Unit: PUU

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Object 607Fh: Max profile velocity

INDEX 607Fh Name Max profile velocity Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value P1-55(rpm) * 10 Comment Unit:0.1rpm

Object 6080h: Max motor speed

INDEX 6080h Name Max motor speed Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value P1-55(rpm) Comment Unit: rpm

Object 6081

: Profile velocity

INDEX 6081h Name Profile Velocity Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 10000 Comment For Profile position mode 6060h=1

Unit: PUU per second

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Object 6083h: Profile acceleration

INDEX 6083h Name Profile acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~UNSIGNED32 Default Value 200 Comment For Profile position mode 6060h=1 & Profile

velocity mode 6060h = 3 Unit: millisecond (time from 0rpm to 3000rpm)

Object 6084h: Profile deceleration

INDEX 6084h Name Profile deceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~UNSIGNED32 Default Value 200 Comment For Profile position mode 6060h=1 & Profile

velocity mode 6060h = 3 Unit: millisecond (time from 0rpm to 3000rpm)

Object 6085h: Quick stop deceleration

INDEX 6085h Name Quick stop acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 0 Comment Unit: millisecond (time from 0rpm to

3000rpm)

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Object 6086h: Motion profile type

INDEX 6086h Name Motion profile type Object Code VAR Data Type INTEGER16 Access RW PDO Mapping Yes Value Range INTEGER16 Default Value 0

Object 6087h: Torque slope

INDEX 6087h Name Torque slope Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 0 Comment

Unit: millisecond (time from 0 to 100％ rated torque)

Object 6093h: Position factor

INDEX 6093h Name Position factor Object Code ARRAY Data Type UNSIGNED32 Access RW PDO Mapping Yes Comment Position factor =

Numerator / Feed_constant

Sub-Index 0 Description Number of entries Data Type UNSIGNED8 Access RO

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PDO Mapping No Value Range 2 Default Value 2

Sub-Index 1 Description Numerator Data Type UNSIGNED32 Access RW PDO Mapping Yes Default Value 1 Comment Same as P1-44

Sub-Index 2 Description Feed_constant Data Type UNSIGNED32 Access RW PDO Mapping Yes Default Value 1 Comment Same as P1-45

Object 6098h: Homing method

INDEX 6098h Name Homing method Object Code VAR Data Type INTEGER8 Access RW PDO Mapping Yes Value Range 0~35 Default Value 0

Index Pulse

Negtive Limit Switch

Method1：Homing on negative limit switch and index pulse

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Index Pulse

Positive Limit Switch

Method2：Homing on positive limit switch and index pulse

Home Switch

Index Pulse

Method 3 and 4：Homing on positive home switch and index pulse

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Home Switch

Index Pulse

Method 5 and 6：Homing on negative home switch and index pulse

Home Switch

Index Pulse

8 10

8 9

Positive Limit Switch

Home Switch

Index Pulse

14 12

13 12

Negative Limit Switch

Method 7 to 14：Homing on home switch and index pulse

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Method 15 and 16：Reserved (no picture)

Home Switch

Method 17 to 30：Homing without an index pulse

Method 31 and 32：Reserved (no picture)

Index Pulse

Method 33 to 34：Homing on index pulse

Method 35：Homing on current position (no picture)

Object 6099h: Homing speed

INDEX 6099h Name Homing speed Object Code ARRAY Data Type UNSIGNED32 Access RW PDO Mapping Yes

Sub-Index 0 Description Number of entries Data Type UNSIGNED8 Access RO PDO Mapping Yes Value Range 2

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Default Value 2 Sub-Index 1 Description Speed during search for switch Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~2000rpm Default Value 100 Comment Unit:0.1rpm

Sub-Index 2 Description Speed during search for zero Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range 1~500rpm Default Value 20 Comment Unit:0.1rpm

Object 609Ah: Homing acceleration

INDEX 609Ah Name Homing acceleration Object Code VAR Data Type UNSIGNED32 Access RW PDO Mapping Yes Value Range UNSIGNED32 Default Value 100 Comment Unit: millisecond (time of acc from 0rpm to

3000rpm)

Delta Electronics ASDA A2-E User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual