Delta MS300 Series User Manual page 655

Chapter 15 CANopen OverviewMS300
15-4 CANopen Supported Index
MS300 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
MS300 Supported Control Index:
Delta Standard Mode (Old Definition)
Index Sub
0 Number
2020H
1
Control word
sub-Index
Pr. Number+1
Pr. Number
- 15(0FH)
Definition Default R/W Size
3 R U8
bit 1–0
bit 3–2 Reserved
bit 5–4
bit 7–6
0 RW U16
bit 11–8
bit 12
bit 14–13
bit 15
646
Note
:
00B Disable
:
01B Stop
:
10B Disable
:
11B JOG Enable
:
00B Disable
:
01B Direction forward
10B: Direction reverse
:
11B Switch direction
:
00B 1 st step accel. /decel.
:
01B 2 nd step accel. /decel.
:
10B 3 rd step accel. /decel.
:
th
11B 4 step accel. /decel.
0000B: Master speed
0001B: 1 st step speed
0010B: 2 nd step speed
0011B: 3 rd step speed
th
0100B: 4 step speed
th
0101B: 5 step speed
0110B: 6 th step speed
0111B: 7 th step speed
th
1000B: 8 step speed
th
1001B: 9 step speed
1010B: 10 th step speed
1011B: 11 th step speed
1100B: 12 th step speed
th
1101B: 13 step speed
th
1110B: 14 step speed
1111B: 15 th step speed
1: Enable the function of bit 6–11
00B: No function
01B: Operation command by the
digital keypad
10B: Operation command by Pr.00-
21 setting
11B: Switch the operation
command source
Reserved