Delta C2000 Series User Manual page 619

D2000+100*n
D2002+100*n
D2003+100*n
D2004+100*n
D2005+100*n
Basic definitions
Special D
Communications break handling
D2006+100*n
method of slave station number n
Error code of slave station number
D2007+100*n
n error
Control word of slave station
D2008+100*n
number n
Status
D2009+100*n
number n
Control mode of slave station
D2010+100*n
number n
Actual mode of slave station
D2011+100*n
number n
Velocity Control
Special D
D2001+100*n Torque restriction on slave station
number n
Target speed of slave station
D2012+100*n
number n (rpm)
Actual speed of slave station
D2013+100*n
number n (rpm)
Error
D2014+100*n
number n (rpm)
Acceleration time of slave station
D2015+100*n
number n (ms)
Deceleration time of slave station
D2016+100*n
number n (ms)
Torque control
Special D
Target torque of slave station
D2017+100*n
number n(-100.0%~+100.0%)
Actual torque of slave station
D2018+100*n
number n(XX.X%)
Actual current of slave station
D2019+100*n
number n(XX.XA)
Position control
Special D
D2020+100*n Target of slave station number n (L)
Target of slave station number n
D2021+100*n
(H)
Actual position of slave station
D2022+100*n
number n (L)
Actual position of slave station
D2023+100*n
number n (H)
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
word of slave
Description of Function
speed of slave
Description of Function
Description of Function
16-127
0
0
0
0
0
PDO Default:
Default:
1
0
0
0
station
%
0
2
2
Default PDO Default:
:
1
0
0
%
0
station
0
1000
1000
PDO Default:
Default:
1
0
0
0
PDO Default:
Default:
1
0
0
0
0
PLC Function Applications
RW
R/W
2 3 4
RW
R
RW
% %
R
RW
R
R/W
2 3 4
RW
RW
R
R
RW
RW
R/W
2 3 4
RW
%
R
R
R/W
2 3 4
RW
RW
R
%
R
R
R
R
R