Delta CFP2000 Series User Manual page 563

Chapter 15 CANopen Overview│CFP2000
Delta Standard Mode (New definition)
Index sub
00h
01h
2060h
02h
03h
04h
05h
06h
07h
08h
01h
2061h
02h
03h
04h
05h
06h
07h
R/W Size
bit
R U8
0
1
2
3
4
RW U16
5
6
7
8
9
10–14
15
RW U16
RW U16
RW U16
RW S32
RW
RW U16
RW U16
0
1
2
3
R U16
4
5
6
7
15–8
R
R U16
R
R S32
R
R S16
Descriptions
Definition Priority
Ack 4
Dir 4
Halt
Hold
JOG
QStop
Power
Reserved
Ext Cmd2 4
Reserved
RST 4
Mode Cmd
Arrive
Dir
Warn
Error
JOG
QStop
Power On
15-18
Speed Mode
0: fcmd =0
1: fcmd = Fset (Fpid)
0: FWD run command
1: REV run command
0: drive run till target speed is
attained
1: drive stop by deceleration
setting
0: drive run till target speed is
attained
1: frequency stop at current
frequency
0: JOG OFF
Pulse 1: JOG RUN
Quick Stop
0:Power OFF
1:Power ON
0->1: Absolute position cleared
Pulse 1: Fault code cleared
0: Speed mode
Speed command (unsigned
decimal)
Frequency 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