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Chapter 16 PLC Function Applications│CFP2000
Special D
Corresponding real-time transmission type (PDO)
D1097
Setting range: 1–240
Corresponding real-time receiving type (PDO)
D1098
Setting range: 1–240
Initialization completion delay time
D1099
Setting range: 1 to 60000 sec
Station number n of slave station
D2000+100*n
Setting range: 0–127
0: No CANopen function
The CFP2000 supports 8 slave stations under the CANopen protocol; each slave station
occupies 100 special D locations; stations are numbered 1–8, total of 8 stations.
Explanation of
slave station
number
1. The range of n is 0–7
2. ●Indicates PDOTX, ▲Indicates PDORX; unmarked special D can be refreshed using the
CANFLS command
Special D
Station number n of slave station
D2000+100*n
Setting range: 0–127
0: No CANopen function
D2002+100*n
Manufacturer code of slave station number n (L)
D2003+100*n
Manufacturer code of slave station number n (H)
D2004+100*n
Manufacturer's product code of slave station number n (L)
D2005+100*n
Manufacturer's product code of slave station number n (H)
Description of Function
Slave station no. 1
D2000
D2001
D2099
Slave station no. 2
D2100
D2101
D2199
Slave station no. 3
D2200
D2201
D2299
Slave station no. 8
D2700
D2701
D2799
Description of Function
16-38
PDO
Map
NO
NO
NO
NO
Node ID
Slave station no. 1 torque restrictions
|
|
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 2 torque restrictions
|
|
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 3 torque restrictions
|
|
Address 4(H) corresponding to receiving
channel 4
Node ID
Slave station no. 8 torque restrictions
|
|
Address 4(H) corresponding to receiving
channel 4
Power
off
Default:
R/W
Memory
YES
1
RW
YES
1
RW
YES
15 sec.
RW
YES
0
RW
Default:
R/W
0
RW
0
R
0
R
0
R
0
R
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