Delta C2000 Series User Manual page 483

Index sub R/W Size
bit DefinitionPriority
14~8
15
02h RW U16
03h RW U16
04h RW U16
05h RW S32
06h RW
07h RW U16
08h RW U16
01h R U16
2061h
15~8
02h R
03h R U16
04h R
05h R S32
06h R
07h R S16
DS402 Standard
Index Sub
6007h 0 Abort connection option code
603Fh 0 Error code
6040h 0 Control word
6041h 0 Status word
6042h 0 vl target velocity
6043h 0 vl velocity demand
6044h 0 vl control effort
604Fh 0 vl ramp function time
6050h 0 vl slow down time
6051h 0 vl quick stop time
605Ah 0 Quick stop option code
Descriptions
Speed Mode
0:Power OFF
7 Power
1:Power ON
Multi-step
Cmd
frequency
SW
switching
Pulse 1: Fault code
cleared
Speed command
(unsigned decimal)
0 Arrive Frequency attained Position attained
0: Motor FWD run
1
Dir
1: Motor REV run
2 Warn Warning
3 Error Error detected
4
5 JOG JOG
6 QStop Quick stop
7
Power On Switch ON
Actual output
frequency
Actual position
(absolute)
Actual torque
Factory
Definition
Setting
10000
10000
1000
Chapter 15 CANopen Overview
Position Mode
0:Power OFF
1:Power ON
Multi-step position
switching
Pulse 1: Fault
code cleared
Position command
0: Motor FWD run
1: Motor REV run
Warning
Error detected
JOG
Quick stop
Switch ON
Actual output
frequency
Actual position
(absolute)
Actual torque
PDO
R/W Size Unit
Map
2 RW S16 Yes
0 R0 U16 Yes
0 RW U16 Yes
0 R0 U16 Yes
0 RW S16 rpm Yes
0 RO S16 rpm Yes
0 RO S16 rpm Yes
RW U32 1ms Yes
RW U32 1ms Yes
RW U32 1ms Yes
2 RW S16 No
15-25
C2000 Series
Home Mode Torque Mode
0:Power OFF 0:Power OFF
1:Power ON 1:Power ON
Pulse 1: Fault code Pulse 1: Fault
cleared code cleared
Torque command
(signed decimal)
Speed limit
(unsigned decimal)
Homing complete Torque attained
0: Motor FWD run 0: Motor FWD run
1: Motor REV run 1: Motor REV run
Warning Warning
Error detected Error detected
JOG JOG
Quick stop Quick stop
Switch ON Switch ON
Actual output Actual output
frequency frequency
Actual position Actual position
(absolute) (absolute)
Actual torque Actual torque
Mode Note
:
0 No action
:
2 Disable Voltage,
:
3 quick stop
vl
vl
vl
vl
Unit must be: 100ms, and
vl check if the setting is set to
0.
vl
0 : disable drive function
1 :slow down on slow down
ramp
2: slow down on quick stop
ramp