Delta C2000 Series User Manual page 527

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. D2000
1 D2001
~
D2099
Slave station no. D2100
2 D2101
~
D2199
Slave station no. D2200
3 D2201
~
D2299
Slave station no. D2700
8 D2701
~
D2799
16-35
PLC Function Applications
Power
PDO
off
Map
Memory
NO NO
- -
NO NO
NO NO
NO NO
NO NO
- -
- -
- -
NO YES
NO YES
NO YES
NO YES
NO YES
- -
NO YES
NO YES
NO YES
NO YES
Node ID
Slave station no. 1 torque restrictions
~
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 2 torque restrictions
~
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 3 torque restrictions
~
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 8 torque restrictions
~
Address 4(H) corresponding to receiving
channel 4
Default: R/W
0 R
-
R
R
R
R
-
-
-
4 RW
RW
FFFFH
0 RW
1000ms RW
3 RW
-
RW
1
RW
1
RW
15 sec.
RW
0