Delta MS300 Series User Manual page 659

Chapter 15 CANopen OverviewMS300
Index sub R/W Size
08h RW U16
01h R U16
2061h
02h R
03h R U16
04h R
05h R S32
06h R
07h R S16
Delta Standard (New Definition 0x60xx)
Object Instance Attributes R/W Size
0x00
0x60
0x300
0x01
0x02
0x03
0x06
0x07
0x61 0x00
Descriptions
bit Definition Priority
0 Arrive
1 Dir
2 Warn
3 Error
4
5 JOG
6 QStop
7 Power On
15–8
Descriptions
bit Definition
0 Ack
1 Dir
2
3 Halt
RW U16
4 Hold
5 JOG
6 QStop
7 Power
8 Ext_Cmd2
14~8
15 RST
Mode
RW U16
Cmd
Speed
RW U16
Cmd
RW U16 Torq Limit
RW S16 Torq Cmd
RW U16
0 Arrive
R U16
1 Dir
Frequency command reached
0: Motor FWD run
1: Motor REV run
Warning occurs
Error detected
JOG
Quick stop
Switch ON
Actual output frequency
Actual position (absolute)
Actual torque
Speed Mode
Priority
0: fcmd = 0
4
1: fcmd = Fset (Fpid)
0: FWD run command
4
1: REV run command
0: Drive runs until
target speed is
3 reached
1: Drive stops by
declaration setting
0: Drive runs until
target speed is
4 reached
1: Frequency stop at
current frequency
0: JOG OFF
4
1: JOG RUN
2 Quick Stop
0: Power OFF
1
1: Power ON
0->1:
4
Clear absolute position
Pulse 1:
4
Clear fault codes
0: Speed mode
Speed command
(unsigned)
Frequency command
reached
0: Motor FWD run
650
Speed Mode
Torque Mode
The internal decoding is seen as
the target torque and is 0, but the
display shows the target torque
has been set externally.
Quick Stop
0: Power OFF
1: Power ON
0->1:
Clear absolute position
Pulse 1:
Arial
2: Torque mode
Torque limit (unsigned)
Torque command (signed)）
Speed limit (unsigned)
Torque command reached
0: Motor FWD run