Speed Control; Torque Control; Position Control - Delta C2000 series User Manual

Basic definition
Special D
Treatment
D2006+100*n
communication disconnect
D2007+100*n Error code of slave No. n
D2008+100*n Control word of slave No. n
D2009+100*n Status word of slave No. n
D2010+100*n Control mode of slave No. n
D2011+100*n Actual mode of slave No. n

Speed Control

Slave No. 0~7
Special D
D2012+100*n Target speed of slave No. n
D2013+100*n Actual speed of slave No. n
D2014+100*n Speed deviation of slave No. n
D2015+100*n Accel. Time of slave No. n
D2016+100*n Decel. Time of slave No. n

Torque control

Slave No. 0~7
Special D
D2017+100*n Target torque of slave No. n
D2018+100*n Actual torque of slave No. n
D2019+100*n Actual current of slave No. n

Position control

Slave No. 0~7
Special D
D2020+100*n Target position(L) of slave No. n
D2021+100*n Target position(H) of slave No. n
D2022+100*n Actual position(L) of slave No. n
D2023+100*n Actual position(H) of slave No. n
D2024+100*n Speed diagram(L) of slave No. n
D2025+100*n Speed diagram (H) of slave No. n
Function
for slave No. n
Function
Function
Function
16-31
Chapter 16 PLC Function C2000 Series
Pre-defined CAN
setting Index
0 6007H-0010H
0 603FH-0010H
0 6040H-0010H
0 6041H-0010H
2 6060H-0008H
2 6061H-0008H
Pre-defined CAN
Setting Index
0 6042H-0010H
0 6043H-0010H
0 6044H-0010H
1000 604FH-0020H
1000 6050H-0020H
Pre-defined CAN
Setting Index
0 6071H-0010H
0 6077H-0010H
0 6078H-0010H
Pre-defined CAN
Setting Index
0
607AH-0020H
0
0
6064H-0020H
0
10000
6081H-0020H
0
PDO
R/W
1 2 3 4
● ● ● RW
R
● ● ●
RW
R
RW
R
PDO
R/W
1 2 3 4
● RW
● R
R
R
RW
PDO
R/W
1 2 3 4
● RW
● R
R
PDO
R/W
1 2 3 4
RW
●
RW
R
●
R
RW
RW