Delta VFD300C43S-HS User Manual page 632

Chapter 15 CANopen Overview C2000-HS
Index sub R/W Size
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
Disable operation option
605Ch 0
code
6060h 0 Mode of operation
Descriptions
bit DefinitionPriority
0
Arrive Frequency 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
Definition Default R/W Size Unit
10000
10000
1000
Speed Mode Position Mode
Position attained Homing complete Torque attained
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
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
1 RW S16 No
2 RW S8 Yes
15-24
Home Mode Torque Mode
Torque
command
(signed decimal)
Speed limit
(unsigned
decimal)
0: Motor FWD 0: Motor FWD
run 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 0.
vl
0: Disable drive function
1: Slow down on slow down
ramp
2: Slow down on quick stop
ramp
5: Slow down on slow down
ramp and stay in QUICK
STOP
6: Slow down on quick stop
ramp and stay in QUICK
STOP
0: Disable drive function
1: Slow down with slow down
ramp; disable the drive
function
1: Profile Position Mode
2: Velocity Mode
4: Torque Profile Mode
6: Homing Mode