Delta C2000 Series User Manual page 481

Vector control drive

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Chapter 15 CANopen Overview

Index sub R/W Size

0 Abort connection option code

0 Error code

0 Control word

0 Status word

0 vl target velocity

0 vl velocity demand

0 vl control effort

0 vl ramp function time

0 vl slow down time

0 vl quick stop time

0 Quick stop option code

Descriptions

bit DefinitionPriority

Pulse 1: Fault code

Speed command

(unsigned decimal)

Frequency attained Position attained

0: Motor FWD run

1: Motor REV run

Error detected

Actual output

Actual position

Actual torque

Position Mode

Multi-step position

Pulse 1: Fault

code cleared

Position command

0: Motor FWD run

1: Motor REV run

Error detected

Actual output

Actual position

Actual torque

R/W Size Unit

RW S16 rpm Yes

RO S16 rpm Yes

RW U32 1ms Yes

RW U32 1ms Yes

Pulse 1: Fault code

Homing complete

0: Motor FWD run

1: Motor REV run

Error detected

Actual output

Actual position

Actual torque

Disable Voltage,

Unit must be: 100ms, and

check if the setting is set to

0 : disable drive function

1 :slow down on slow down

2: slow down on quick stop

Pulse 1: Fault

code cleared

Torque command

(signed decimal)

(unsigned decimal)

Torque attained

0: Motor FWD run

1: Motor REV run

Error detected

Actual output

Actual position

Actual torque

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