Delta C200 Series User Manual page 275

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Index sub R/W bit
03h RW
04h RW
05h RW
06h RW
07h RW
0
2~1
5
6
01h R
7
2061h 8
9
10
11
15~11
02h R
03h R
04h R
05h R
06h R
07h R
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
Call 1(800)985-6929 for Sales
Factory
bit
Setting
0 ARRIVE
1
DIR
00
01
10
11
JOG
0
1
QSTOP
0
1
0 SERVO_ON
1
PRLOCK
0
1
0 WARN
1
ERROR
0
1
IGBT_OK
0
1
- -
Velocity cmd
-
-
Torq Cmd
Factory
Definition
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Chapter 13 CANopen Overview |C200 Series
Speed Mode
Priority
Speed command
(unsigned decimal)
Frequency command not
reached
Frequency attained
FWD
REV run switches to FWD run
FWD run switches to REV run
REV
None
On JOG
None
On Quick Stop
PWM OFF
PWM ON
Parameters NOT locked
Parameter Lock
NO warning
Warning
No error
Error detected
IGBT OFF
IGBT ON
-
Actual output frequency
-
Actual position (absolute)
Actual torque
PDO
R/W Size Unit
Map
Setting
2 RW S16
0 R0 U16
0 RW U16
0 R0 U16
0 RW S16 rpm Yes
0 RO S16 rpm Yes
0 RO S16 rpm Yes
10000 RW U32 1ms Yes
10000 RW U32 1ms Yes
1000 RW U32 1ms Yes
2 RW S16
13-18
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Torque Mode
Torque command
(signed decimal)
Speed limit
(unsigned decimal)
Torque command not reached
Torque attained
FWD
REV run switches to FWD run
FWD run switches to REV run
REV
None
On JOG
None
On Quick Stop
PWM OFF
PWM ON
Parameters NOT locked
Parameter Lock
NO warning
Warning
No error
Error detected
IGBT OFF
IGBT ON
-
Actual output frequency
-
Actual position (absolute)
Actual torque
Mode Note
:
0 No action
:
Yes
2 Disable Voltage,
:
3 quick stop
Yes
Yes
Yes
vl
vl
vl
vl Unit must be: 100ms, and
vl check if the setting is set to
0.
vl
0 : disable drive function
No
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
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-