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Special
D
D1225
PID1 P value (decimal point 2)
D1226
PID2 I value (decimal point 2)
D1227
PID2 D value (decimal point 2)
D1229
Max. limit of PID2
D1235
Counting value of PID2 (decimal point 2)
The following is CANopen Master's special D (can be written in only with PLC in Stop state)
※ CFP2000 does not have torque and position mode. As CANopen master, however, CFP2000
can issue torque and position commands to CANopen slaves.
n=0–7
Special D
Channel opened by CANopen initialization
D1070
(bit0=Machine code0 .......)
Error channel occurring in CANopen initialization
D1071
process (bit0=Machine code0 .......)
D1072
Reserved
D1073
CANopen break channel (bit0=Machine code0 .......)
Error code of master error
0: No error
D1074
1: Slave station setting error
2: Synchronizing cycle setting error (too small)
D1075
Reserved
D1076
SDO error message (main index value)
D1077
SDO error message (secondary index value)
D1078
SDO error message (error code)
D1079
SDO error message (error code)
D1080
Reserved
D1081
|
Reserved
D1086
D1087
|
Reserved
D1089
D1090
Synchronizing cycle setting
Sets slave station On or Off (bit0–bit7 correspond to
D1091
slave stations number 0–7)
D1092
Delay before start of initialization
D1093
Break time detection
D1094
Break number detection
D1095
|
Reserved
D1096
Description of Function
Description of Function
16-37
Chapter 16 PLC Function Applications│CFP2000
Power
PDO
off
Map
Memory
NO
NO
NO
NO
-
-
NO
NO
NO
NO
-
-
NO
NO
NO
NO
NO
NO
NO
NO
-
-
-
-
-
-
NO
YES
NO
YES
NO
YES
NO
YES
NO
YES
-
-
Default
R/W*
10
RW
1000
RW
0
RW
10000
RW
0
RO
Default:
R/W
0
R
0
R
-
R
0
R
-
R
R
R
R
-
-
-
4
RW
FFFFH
RW
0
RW
1000ms
RW
3
RW
-
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