Delta C2000 Series User Manual page 526

Special D
Error code of master error
0: No error
D1074
1: Slave station setting error
2: Synchronizing cycle setting error (too small)
D1075 Reserved
D1076 SDO error message (main index value)
D1077 SDO error message (secondary index value)
D1078 SDO error message (error code)
D1079 SDO error message (error code)
D1080 Reserved
D1081
~ Reserved
D1086
D1087
~ Reserved
D1089
D1090 Synchronizing cycle setting
Sets slave station On or Off (bit 0-bit 7 correspond to
D1091
slave stations number 0-7)
D1092 Delay before start of initialization
D1093 Break time detection
D1094 Break number detection
D1095
~ Reserved
D1096
Corresponding real-time transmission type (PDO)
D1097
Setting range: 1~240
Corresponding real-time receiving type (PDO)
D1098
Setting range: 1~240
Initialization completion delay time
D1099
Setting range: 1 to 60000 sec
Station number n of slave station
D2000+100*n Setting range: 0~127
0: No CANopen function
The C2000 supports 8 slave stations under the CANopen protocol; each slave station
occupies 100 special D locations; stations are numbered 1-8, total of 8 stations.
Explanation of
slave station
number and
Description of Function
Slave station no. 1
Slave station no. 2
Slave station no. 3
Slave station no. 8
Chapter 16 PLC Function Applications
D2000 Node ID
D2001 Slave station no. 1 torque restrictions
~ ~
D2099 Address 4(H) corresponding to receiving
channel 4
D2100 Node ID
D2101 Slave station no. 2 torque restrictions
~ ~
D2199 Address 4(H) corresponding to receiving
channel 4
D2200 Node ID
D2201 Slave station no. 3 torque restrictions
~ ~
D2299 Address 4(H) corresponding to receiving
channel 4
D2700 Node ID
D2701 Slave station no. 8 torque restrictions
~ ~
D2799 Address 4(H) corresponding to receiving
channel 4
16-35
C2000 Series
Power
PDO
off Default:
Map
Memory
NO NO 0
- -
NO NO
NO NO
NO NO
NO NO
- -
- -
- -
NO YES 4
NO YES FFFFH
NO YES 0
NO YES 1000ms
NO YES 3
- -
NO YES 1
NO YES 1
NO YES 15 sec.
NO YES 0
R/W
R
-
R
R
R
R
-
-
-
RW
RW
RW
RW
RW
-
RW
RW
RW
RW