Delta C2000 Series User Manual page 477

Chapter 15 CANopen Overview
C2000 Index:
Parameter index corresponds to each other as following:
2000H + Group
For example:
Pr.10.15 (Encoder Slip Error Treatment)
10(0 A H)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
C2000 Control Index:
Index Sub
0 Number
2020H
1 Control word
member+1
- 15(0FH)
Factory
Definition
Setting
R/W Size
3 R U8
Bit 1~0 00B
Bit3~2
Bit5~4
Bit7~6
Bit11~8 0000B: Master speed
0 RW U16
Bit12
Bit14~13 00B: no function
15-20
Note
:
disable
:
01B stop
:
10B disable
:
11B JOG Enable
Reserved
:
00B disable
:
01B Direction forward
:
10B Reverse
:
11B Switch Direction
st
:
00B 1 step Accel. /Decel.
nd
:
01B 2 step Accel. /Decel.
rd
:
10B 3 step Accel. /Decel.
th
:
11B 4 step Accel. /Decel.
st
0001B: 1 step speed
nd
0010B: 2 step speed
rd
0011B: 3 step speed
th
0100B: 4 step speed
th
0101B: 5 step speed
th
0110B: 6 step speed
th
0111B: 7 step speed
th
1000B: 8 step speed
th
1001B: 9 step speed
th
1010B: 10 step speed
th
1011B: 11 step speed
th
1100B: 12 step speed
th
1101B: 13 step speed
th
1110B: 14 step speed
th
1111B: 15 step speed
1: Enable the function of
Bit6-11
01B: Operation command by
the digital keypad