Delta C2000 series User Manual page 412

Index sub R/W Size
bit DefinitionPriority
04h RW U16
05h RW S32
06h RW
07h RW U16
08h RW U16
0
1
2
01h R U16
3
4
5
2061h 6
7
15~8
02h R
03h R U16
04h R
05h R S32
06h R
07h R S16
DS402 Standard
Index Sub
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
(unsigned
decimal)
Frequency
Arrive
attained
0: Motor FWD
Dir run
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
Definition
Setting
2
0
0
0
0
0
0
10000
10000
1000
2
Chapter 15 CANopen Overview |C2000 Series
Position Mode
Position
command
Position
attained
0: Motor FWD
run
1: Motor REV
run
Warning
Error detected 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
15-20
Home Mode Torque Mode
Torque
command
(signed
decimal)
Speed limit
(unsigned
decimal)
Homing
Torque attained
complete
0: Motor FWD
0: Motor FWD
run
run
1: Motor REV
1: Motor REV run
run
Warning Warning
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
vl check if the setting is set to
0.
vl
0 : disable drive function
1 :slow down on slow down
ramp
2: slow down on quick stop
ramp