Delta C2000 Series User Manual page 750

Index
bit0 bit1 bit2
2026-01
1 FWD REV MI1
2
3
1: Control broad I/O (Standard)
2: Add external card, EMC-D611A
3: Add external card, EMC-D42A
Index
bit0 bit1 bit2
2026-41
1 RY1 RY2
2
3
1: Control broad I/O (Standard)
2: Add external card, EMC-D42A
3: Add external card, EMC-R6AA
Delta Standard Mode (New definition)
Index sub R/W Size
bit DefinitionPriority
00h R U8
0
1
2
3
4
01h RW U16
2060h
5
6
7
8
9
10–14
15
02h RW U16
03h RW U16
04h RW U16
05h RW S32
bit3 bit4 bit5 bit6
MI2 MI3 MI4 MI5
bit3 bit4 bit5 bit6
MO1 MO2
MO10 MO11
RY10 RY11 RY12 RY13 RY14 RY15
Descriptions
Speed Mode
0: fcmd =0
Ack 4
1: fcmd = Fset(Fpid)
0: FWD run command
Dir 4
1: REV run command
0: drive run till target
speed is attained
Halt 3
1: drive stop by
declaration setting
0: drive run till target
speed is attained
Hold 4 1: frequency
stop at current
frequency
0: JOG OFF
JOG 4
Pulse 1: JOG RUN
Qstop 2 Quick Stop
0: Power OFF
Power 1
1: Power ON
Reserved
0->1: Absolute
Ext Cmd2 4
position cleared
Reserved
Pulse 1: Fault code
RST
cleared
Mode
0: Speed mode
Cmd
Speed command
(unsigned decimal)
Chapter 15 CANopen Overview C2000
bit7 bit8 bit9 bit10
MI6 MI7 MI8
MI10 MI11 MI12 MI13 MI14 MI15
MI10 MI11 MI12 MI13
bit7 bit8 bit9 bit10 bit11 bit12 bit13 bit14 bit15
Position Mode
Pulse 1: Position
control
0: Relative move
1: Absolute move
Quick Stop
0: Power OFF
1: Power ON
0->1: Absolute
position cleared
Pulse 1: Fault
code cleared
1: P2P position
mode
Position
command
15-23
bit11 bit12 bit13 bit14
Home Mode Torque Mode
0: Stop Homing
Pulse 1: Return
to home
The torque target
of internal
decoding is set
as 0, but the
display of outside
torque target will
remain its outside
setting.
Quick Stop Quick Stop
0: Power OFF 0: Power OFF
1: Power ON 1: Power ON
0->1: Absolute 0->1: Absolute
position cleared position cleared
Pulse 1: Fault Pulse 1: Fault
code cleared code cleared
3: Home mode 2: Torque mode
bit15