Delta C2000 Series User Manual page 619

Chapter 16 PLC Functions Applications
D2000+100*n
D2002+100*n
D2003+100*n
D2004+100*n
D2005+100*n
Basic definitions
Special D
D2006+100*n
D2007+100*n
D2008+100*n
D2009+100*n
D2010+100*n
D2011+100*n
Velocity Control
Special D
D2001+100*n Torque restriction on slave station
D2012+100*n
D2013+100*n
D2014+100*n
D2015+100*n
D2016+100*n
Torque control
Special D
D2017+100*n
D2018+100*n
D2019+100*n
Position control
Special D
D2020+100*n Target of slave station number n (L)
D2021+100*n
D2022+100*n
D2023+100*n
C2000 Series
Station number n of slave station
Setting range: 0~127
0: No CANopen function
Manufacturer code of slave station
number n (L)
Manufacturer code of slave station
number n (H)
Manufacturer's product code of slave
station number n (L)
Manufacturer's product code of slave
station number n (H)
Description of Function
Communications break handling
method of slave station number n
Error code of slave station number
n error
Control word of slave station
number n
Status word of slave
number n
Control mode of slave station
number n
Actual mode of slave station
number n
Description of Function
number n
Target speed of slave station
number n (rpm)
Actual speed of slave station
number n (rpm)
Error speed of slave
number n (rpm)
Acceleration time of slave station
number n (ms)
Deceleration time of slave station
number n (ms)
Description of Function
Target torque of slave station
number n(-100.0%~+100.0%)
Actual torque of slave station
number n(XX.X%)
Actual current of slave station
number n(XX.XA)
Description of Function
Target of slave station number n
(H)
Actual position of slave station
number n (L)
Actual position of slave station
number n (H)
0
0
0
0
0
Default:
1
0
0
0
station
0
2
2
Default
: 1
0
0
0
station
0
1000
1000
Default:
1
0
0
0
Default:
0
0
0
0
16-128
PDO Default:
2 3 4
PDO Default:
R/W
2 3 4
PDO Default:
R/W
2 3 4
RW
PDO Default:
R/W
1 2 3 4
RW
R
R
R
R
R/W
RW
R
RW
R
RW
R
RW
RW
R
R
RW
RW
R
R
RW
RW
R
R