Delta C2000 Series User Manual page 527

Chapter 16 PLC Functions Applications
1. The range of n is 0-7
2. Indicates PDOTX,
CANFLS command
Special D
Station number n of slave station
D2000+100*n Setting range: 0~127
0: No CANopen function
D2002+100*n Manufacturer code of slave station number n (L)
D2003+100*n Manufacturer code of slave station number n (H)
D2004+100*n Manufacturer's product code of slave station number n (L)
D2005+100*n Manufacturer's product code of slave station number n (H)
Basic definitions
Special D
Communications break handling method of
D2006+100*n
slave station number n
D2007+100*n Error code of slave station number n error
D2008+100*n Control word of slave station number n
D2009+100*n Status word of slave station number n
D2010+100*n Control mode of slave station number n
D2011+100*n Actual mode of slave station number n
Velocity Control
Slave station number n=0-7
Special D
D2001+100*n Torque restriction on slave station number n
D2012+100*n Target speed of slave station number n
D2013+100*n Actual speed of slave station number n
D2014+100*n Error speed of slave station number n
D2015+100*n Acceleration time of slave station number n
D2016+100*n Deceleration time of slave station number n
Torque control
Slave station number n=0-7
Special D
D2017+100*n Target torque of slave station number n
D2018+100*n Actual torque of slave station number n
D2019+100*n Actual current of slave station number n
Position control
Slave station number n=0-7
Special D
D2020+100*n Target of slave station number n (L)
D2021+100*n Target of slave station number n (H)
Actual position of slave station number n
D2022+100*n
(L)
Actual position of slave station number n
D2023+100*n
(H)
D2024+100*n Speed chart of slave station number n (L)
D2025+100*n Speed chart of slave station number n (H)
C2000 Series
Indicates PDORX; unmarked special D can be refreshed using the
Description of Function
Description of Function
Description of Function
Description of Function
Description of Function
16-36
CAN
Default:
Index
0 6007H-0010H
0 603FH-0010H
0 6040H-0010H
0 6041H-0010H
2 6060H-0008H
2 6061H-0008H
CAN
Default:
Index
0 6072H-0010H
0 6042H-0010H
0 6043H-0010H
0 6044H-0010H
1000 604FH-0020H
1000 6050H-0020H
CAN
Default:
Index
0 6071H-0010H
0 6077H-0010H
0 6078H-0010H
CAN
Default:
Index
0
607AH-0020H
0
0
6064H-0020H
0
10000
6081H-0020H
0
Default: R/W
0 RW
0 R
0 R
0 R
0 R
PDO Default:
R/W
1 2 3 4
RW
R
RW
R
RW
R
PDO Default:
R/W
1 2 3 4
RW
RW
R
R
R
RW
PDO Default:
R/W
1 2 3 4
RW
R
R
PDO Default:
R/W
1 2 3 4
RW
RW
R
R
RW
RW