Canopen Supported Index - Delta C2000 Plus Series User Manual

Chapter 15 CANopen Overview C2000 Plus

15-4 CANopen Supported Index

C2000 Supported Parameter Index:
The parameter index corresponds as shown in this example:
Index
2000H + Group
For example:
Pr.10-15 (Encoder Stall and Slip Error Action)
Group
10(0AH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
C2000 Supported Control Index:
Delta Standard Mode (Old Definition)
Index Sub
0 Number
1 Control word
2020H
Freq. command
2
(XXX.XXHz)
sub-Index
number+1
number
- 15(0FH)
Definition Default
3
0
0
R/W Size
R U8
bit1–0
bit3–2
bit5–4
bit7–6
bit11–8 0000B: Master speed
RW U16
bit12
bit 15
RW U16
15-22
Note
:
00B Disable
:
01B Stop
:
10B Disable
:
11B JOG Enable
Reserved
:
00B disable
:
01B Direction forward
:
10B Reverse
:
11B Switch Direction
:
00B 1 st step Accel. /Decel.
:
01B 2 nd step Accel. /Decel.
:
rd
10B 3 step Accel. /Decel.
:
11B 4 th step Accel. /Decel.
st
0001B: 1 step speed
0010B: 2 nd step speed
rd
0011B: 3 step speed
th
0100B: 4 step speed
0101B: 5 th step speed
th
0110B: 6 step speed
th
0111B: 7 step speed
1000B: 8 th step speed
th
1001B: 9 step speed
1010B: 10 th step speed
1011B: 11 th step speed
th
1100B: 12 step speed
1101B: 13 th step speed
1110B: 14 th step speed
th
1111B: 15 step speed
1: Enable the function of bit6-
11
Reserved