Delta MS300 Series User Manual page 658

Index Sub
27 Motor status
Output positive/ negative
torque of motor drive
28
calculation
29 Torque command
2A kWh display
2B Reserved
2022H
2C Reserved
2D Reserved
2E Reserved
2F PID target value
30 PID offset
31 PID output frequency
CANopen Remote IO Mapping
Index Sub
01h
02h
03h–40h
41h
42h–60h
2026H
61h
62h
63h
64h–A0h
A1h
Index
bit 0 bit 1 bit 2
2026-01
DI MI1 MI2 MI3
1: Control broad I/O (Standard)
Delta Standard Mode (New Definition)
Index sub R/W Size
00h R U8
01h RW U16
2060h
01h RW U16
02h RW U16
03h RW U16
04h RW U16
05h RW S32
06h RW
2060h 07h RW U16
Definition Default R/W
R/W
R Each bit corresponds to different input terminals.
R Each bit corresponds to different input terminals.
R Reserved
RW Each bit corresponds to different output terminals
R Reserved
R AVI (%)
R ACI (%)
R Reserved
R Reserved
RW AFM1 (%)
bit 3 bit 4 bit 5
MI4 MI5 MI6
Descriptions
bit Definition Priority
0 Ack 4
1 Dir 4
2
3 Halt 3
4 Hold 4
5 JOG 4
6 QStop 2
7 Power 1
8
4
Ext_md2
14–9
15 RST 4
Mode Cmd
Size
Definition
bit 6 bit 7 bit8 bit9
MI7
0: fcmd = 0
1: fcmd = Fset (Fpid)
0: FWD run command
1: REV run command
0: Drive runs until target speed is reached
1: Drive stops by deceleration setting
0: Drive runs until target speed is reached
1: Frequency stops at current frequency
0: JOG OFF
Pulse 1: JOG RUN
Quick Stop
0: Power OFF
1: Power ON
01: Absolute position cleared
Pulse 1: Fault code cleared
0: Speed mode
Speed command (unsigned decimal)
649
Chapter 15 CANopen OverviewMS300
Note
bit10 bit11 bit12 bit13
Speed Mode
bit14 bit15