Delta CFP2000 Series User Manual page 612

Basic definitions
Special D
Communications break handling method of
D2006+100*n
slave station number n
D2007+100*n Error code of slave station number n error
D2008+100*n Control word of slave station number n
D2009+100*n Status word of slave station number n
D2010+100*n Control mode of slave station number n
D2011+100*n Actual mode of slave station number n
Velocity Control
Slave station number n=0–7
Special D
D2001+100*n Torque restriction on slave station number n
D2012+100*n Target speed of slave station number n
D2013+100*n Actual speed of slave station number n
D2014+100*n Error speed of slave station number n
D2015+100*n Acceleration time of slave station number n
D2016+100*n Deceleration time of slave station number n
20XXH correspondences: MI / MO / AI / AO
Slave station number n=0–7
Special D
D2026+100*n MI status of slave station number n
D2027+100*n MO setting of slave station number n
D2028+100*n AI1 status of slave station number n
D2029+100*n AI2 status of slave station number n
D2030+100*n AI3 status of slave station number n
D2031+100*n AO1 status of slave station number n
D2032+100*n AO2 status of slave station number n
D2033+100*n AO3 status of slave station number n
PDO reflection length setting:
Special D
D2034+100*n Real-time transmission setting of slave station number n
D2067+100*n Real-time reception setting of slave station number n
Description of Function
Description of Function
Description of Function
Description of Function
16-39
Chapter 16 PLC Function Applications│CFP2000
CAN
Default:
Index
0 6007H-0010H
0 603FH-0010H
0 6040H-0010H ●
0 6041H-0010H
2 6060H-0008H
2 6061H-0008H
CAN
Default:
Index
0 6072H-0010H
0 6042H-0010H ●
0 6043H-0010H
0 6044H-0010H
1000 604FH-0020H
1000 6050H-0020H
CAN
Default:
Index
0 2026H-0110H
0 2026H-4110H
0 2026H-6110H
0 2026H-6210H
0 2026H-6310H
0 2026H-A110H
0 2026H-A210H
0 2026H-A310H
PDO Default:
R/W
1 2 3 4
RW
R
● ● RW
▲ ▲ ▲
R
RW
R
PDO Default:
R/W
1 2 3 4
RW
RW
▲
R
R
R
RW
PDO Default:
R/W
1 2 3 4
▲ RW
● RW
▲ RW
▲ RW
▲ RW
● RW
● RW
● RW
Default:
R/W
000AH RW
0000H RW