Delta CT2000 Series User Manual page 431

Chapter 15 CANopen Overview CT2000 Series
Index sub R/W Size
02h RW U16
03h RW U16
04h RW U16
05h RW S32
06h RW
07h RW U16
08h RW U16
01h R U16
2061h
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
Descriptions
bit DefinitionPriority
0:Power OFF
7 Power
1:Power ON
Multi-step
Cmd
14~8 frequency
SW
switching
Pulse 1: Fault code
15
cleared
Speed command
(unsigned decimal)
Frequency attained Position attained
0 Arrive
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
15~8
Actual output
frequency
Actual position
(absolute)
Actual torque
Factory
Definition
Setting
10000
10000
1000
Speed Mode Position Mode
0:Power OFF
1:Power ON
Multi-step position
switching
Pulse 1: Fault
code cleared
Position command
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
R/W Size Unit
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
15-24
Home Mode
0:Power OFF
1:Power ON
Pulse 1: Fault code
cleared
Homing complete
0: Motor FWD run
1: Motor REV run
Warning
Error detected
JOG
Quick stop
Switch ON
Actual output
frequency
Actual position
(absolute)
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 set to
0.
vl
0 : disable drive function
1 :slow down on slow down
No ramp
2: slow down on quick stop
ramp
Torque Mode
0:Power OFF
1:Power ON
Pulse 1: Fault
code cleared
Torque command
(signed decimal)
Speed limit
(unsigned decimal)
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