Delta CP2000 Series, User Manual

Page: 674 / 868

Chapter 15 CANopen Overview
│
CP2000
15-19
DS402 Standard
Index Sub Definition
Factory
Setting
R/W Size Unit
PDO
Map
Mode Note
6007h 0 Abort connection option code 2 RW S16 Yes
0
:
No action
2
:
Disable Voltage
3
:
quick stop
603Fh 0 Error code 0 R0 U16 Yes
6040h 0 Control word 0 RW U16 Yes
6041h 0 Status word 0 R0 U16 Yes
6042h 0 vl target velocity 0 RW S16 rpm Yes vl
6043h 0 vl velocity demand 0 RO S16 rpm Yes vl
6044h 0 vl control effort 0 RO S16 rpm Yes vl
604Fh 0 vl ramp function time 10000 RW U32 1ms Yes vl
Unit must be: 100 ms, and
check if the setting is 0.
6050h 0 vl slow down time 10000 RW U32 1ms Yes vl
6051h 0 vl quick stop time 1000 RW U32 1ms Yes vl
605Ah 0 Quick stop option code 2 RW S16 No
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
605Ch 0
Disable operation option
code
1 RW S16 No
0: Disable drive function
1: Slow down with slow
down ramp; disable of the
drive function
6060h 0 Mode of operation 2 RW S8 Yes
2: Velocity Mode
4: Torque Profile Mode
6061h 0 Mode of operation display 2 RO S8 Yes Same as above