Ds402 Standard - Delta C2000 series User Manual

Index sub R/W Size
bit DefinitionPriority
7
14~8
15
02h RW U16
03h RW U16
04h RW U16
05h RW S32
06h RW
07h RW U16
08h RW U16
0
1
2
01h R U16 3
4
5
6
2061h 7
15~8
02h R
03h R U16
04h R
05h R S32
06h R
07h R S16

DS402 Standard

Index Sub Definition
6007h 0 Abort connection option code
603Fh 0 Error code
6040h 0 Control word
6041h 0 Status word
6042h 0 vl target velocity
6043h 0 vl velocity demand
6044h 0 vl control effort
604Fh 0 vl ramp function time
6050h 0 vl slow down time
6051h 0 vl quick stop time
605Ah 0 Quick stop option code
Descriptions
Speed Mode
0:Power OFF
Power
1:Power ON
Multi-step
Cmd
frequency
SW
switching
Pulse 1: Fault code
cleared
Speed command
(unsigned decimal)
Arrive Frequency attained Position attained
0: Motor FWD run
Dir
1: Motor REV run
Warn Warning
Error Error detected
JOG JOG
QStop Quick stop
Power On Switch ON
Actual output
frequency
Actual position
(absolute)
Actual torque
Factory
Setting
2
0
0
0
0
0
0
10000
10000
1000
2
Chapter 15 CANopen Overview C2000 Series
Position Mode
0:Power OFF
1:Power ON
Multi-step position
switching
Pulse 1: Fault
code cleared
Position command
0: Motor FWD run
1: Motor REV run
Warning
Error detected
JOG
Quick stop
Switch ON
Actual output
frequency
Actual position
(absolute)
Actual torque
PDO
R/W Size Unit
Map
RW S16 Yes
R0 U16 Yes
RW U16 Yes
R0 U16 Yes
RW S16 rpm Yes
RO S16 rpm Yes
RO S16 rpm Yes
RW U32 1ms Yes
RW U32 1ms Yes
RW U32 1ms Yes
RW S16 No
15-25
Home Mode Torque Mode
0:Power OFF 0:Power OFF
1:Power ON 1:Power ON
Pulse 1: Fault code Pulse 1: Fault
cleared code cleared
Torque command
(signed decimal)
Speed limit
(unsigned decimal)
Homing complete Torque attained
0: Motor FWD run 0: Motor FWD run
1: Motor REV run 1: Motor REV run
Warning Warning
Error detected Error detected
JOG JOG
Quick stop Quick stop
Switch ON Switch ON
Actual output Actual output
frequency frequency
Actual position Actual position
(absolute) (absolute)
Actual torque Actual torque
Mode Note
:
0 No action
:
2 Disable Voltage,
:
3 quick stop
vl
vl
vl
vl Unit must be: 100ms, and
check if the setting is set to
vl
0.
vl
0 : disable drive function
1 :slow down on slow down
ramp
2: slow down on quick stop
ramp