Delta MS300 Series User Manual page 660

Object Instance Attributes R/W Size
0x02
0x04
0x06
DS402 Standard
Index Sub Definition
6007h 0 Abort connection option code
603Fh 0 Error code
6040h 0 Control word
6041h 0 Status word
6042h 0 velocity mode target velocity
velocity mode velocity
6043h 0
demand
6044h 0 velocity mode control effort
velocity mode ramp function
604Fh 0
time
velocity mode slow down
6050h 0
time
velocity mode quick stop
6051h 0
time
605Ah 0 Quick stop option code
Disable operation option
605Ch 0
code
6060h 0 Mode of operation
6061h 0 Mode of operation display
Descriptions
bit Definition
2 Warn
3 Error
4
5 JOG
6 QStop
7 Power On
15~8
R U16
R S32
R S16
Default R/W Size Unit
2
0
0
0
0
0
0
10000
10000
1000
2
1
2
2
Chapter 15 CANopen OverviewMS300
Speed Mode
Priority
1: Motor REV run
Waring occurs
Fault occurs
JOG
Quick stop
Switched ON
Actual output
frequency
Actual position
(absolute)
Actual torque
PDO
Mode
Map
RW S16 Yes
R0 U16 Yes
RW U16 Yes
R0 U16 Yes
RW S16 rpm Yes
RO S16 rpm Yes
RO S16 rpm Yes
RW U32 1ms Yes
RW U32 1ms Yes
RW U32 1ms Yes
RW S16 No
RW S16 No
RW S8 Yes
RO S8 Yes
651
Torque Mode
1: Motor REV run
Waring occurs
Fault occurs
JOG
Quick stop
Switched ON
Arial
Actual position (absolute)
Actual torque
Note
0: No action
2: Disable voltage
3: Quick Stop
vl
vl
vl
The minimum unit is 100 ms.
vl
For example, when it is set to
290 ms, it is regarded as 200
vl
ms. When it is set to 10301 ms,
it is regarded as 10300 ms. In
addition, it cannot be set to
vl
zero.
0: Disable drive function
1: Slow down on slow down
ramp
2: Slow down on quick stop
ramp
5: Slow down on slow down
ramp and stay in QUICK
STOP
6: Slow down on quick stop
ramp and stay in QUICK
STOP
0: Disable drive function
1: Slow down with slow down
ramp; disable the drive
function
2: Velocity mode
Same as above