Delta C2000 series User Manual page 413

Index Sub Definition
Disable operation option
605Ch 0
code
6060h 0 Mode of operation
6061h 0 Mode of operation display
0 pp Position actual value
6064h
6071h 0 tq Target torque
0 tq Max torque
6072h
0 tq Motor rated current
6075h
6077h 0 tq torque actual value
0 tq current actual value
6078h
0 tq DC link circuit voltage
6079h
607Ah 0 pp Target position
Remote I/O
Sub
Index
2026H 0h Number
1h MI Status
2h~40h Reserved
41h MO Control
Factory
R/W Size Unit
Setting
1 RW S16
2 RW
2 RO
0 RO S32
0 RW S16
150 RW U16
0 RO U32 mA No
0 RO S16
0 RO S16
0 RO U32 mV Yes
0 RW S32
Factory
Definition
Setting
DFh
0x00
0x00
0x00
15-21
Chapter 15 CANopen Overview |C2000 Series
PDO
Mode
Map
5 slow down on slow down
ramp and stay in QUICK
STOP
6 slow down on quick stop
ramp and stay in QUICK
STOP
0: Disable drive function
1: Slow down with slow
No
down ramp; disable of the
drive function
1: Profile Position Mode
2: Velocity Mode
S8 Yes
4: Torque Profile Mode
6: Homing Mode
S8 Yes Same as above
Yes pp
0.1
Yes tq Valid unit: 1%
%
0.1
No tq Valid unit: 1%
%
tq
0.1
Yes tq
%
0.1
Yes tq
%
tq
1 Yes pp
R/W Size
R U8
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
R U16
Bit 8
Bit 9
Bit 10
Bit 11 MI10 (Extension card)
Bit 12 MI12 (Extension card)
Bit 13 MI13 (Extension card)
Bit 14 MI14 (Extension card)
Bit 15 MI15 (Extension card)
R U16
RW U16 Bit 0
Bit 1
Bit 2
Bit 3
Note
Note
FWD
REV
MI1
MI2
MI3
MI4
MI5
MI6
MI7
MI8
MI9 (Extension card)
RY1
RY2
MO1