Delta C2000 Series User Manual page 799

Chapter 16 PLC Function ApplicationsC2000
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
1. The range of n is 0–7
2. ●Indicates PDOTX, ▲Indicates PDORX; unmarked special D can be refreshed using the
CANFLS command
Special D
Station number n of slave station
D2000+100*n Setting range: 0–127
0: No CANopen function
D2002+100*n Manufacturer code of slave station number n (L)
D2003+100*n Manufacturer code of slave station number n (H)
D2004+100*n Manufacturer's product code of slave station number n (L)
D2005+100*n Manufacturer's product code of slave station number n (H)
Basic definitions
Special D
Communications break handling method of
D2006+100*n
slave station number n
D2007+100*n Error code of slave station number n error
D2008+100*n Control word of slave station number n
D2009+100*n Status word of slave station number n
D2010+100*n Control mode of slave station number n
D2011+100*n Actual mode of slave station number n
Velocity Control
Slave station number n=0–7
Special D
D2001+100*n Torque restriction on slave station number n
D2012+100*n Target speed of slave station number n
D2013+100*n Actual speed of slave station number n
D2014+100*n Error speed of slave station number n
D2015+100*n Acceleration time of slave station number n
D2016+100*n Deceleration time of slave station number n
Slave station no. 1
Slave station no. 2
Slave station no. 3
Slave station no. 8
Description of Function
Description of Function
Description of Function
D2000 Node ID
D2001 Slave station no. 1 torque restrictions
– –
D2099 Address 4(H) corresponding to receiving
channel 4
D2100 Node ID
D2101 Slave station no. 2 torque restrictions
– –
D2199 Address 4(H) corresponding to receiving
channel 4
D2200 Node ID
D2201 Slave station no. 3 torque restrictions
– –
D2299 Address 4(H) corresponding to receiving
channel 4

D2700 Node ID
D2701 Slave station no. 8 torque restrictions
– –
D2799 Address 4(H) corresponding to receiving
channel 4
Default:
0 6007H–0010H
0 603FH–0010H
0 6040H–0010H ●
0 6041H–0010H
2 6060H–0008H
2 6061H–0008H
Default:
0 6072H–0010H
0 6042H–0010H ●
0 6043H–0010H
0 6044H–0010H
1000 604FH–0020H
1000 6050H–0020H
16-38
Default:
0
0
0
0
0
CAN PDO Default:
Index 1 2 3 4
● ●
▲ ▲ ▲
PDO Default:
CAN
Index 1 2 3 4
▲
R/W
RW
R
R
R
R
R/W
RW
R
RW
R
RW
R
R/W
RW
RW
R
R
R
RW