Delta ASD-A2 — Table of Contents

ASDA A2-E Table of Contents 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 ii Revision April, 2015