Delta CP2000 Series, User Manual

Page: 722 / 868

Chapter 16 PLC Function Applications
│
CP2000
16-39
Basic definitions
Special D Description of Function Default:
CAN
Index
PDO Default:
R/W
1 2 3 4
D2006+100*n
Communications break handling method of
slave station number n
0 6007H-0010H RW
D2007+100*n Error code of slave station number n error 0 603FH-0010H R
D2008+100*n Control word of slave station number n 0 6040H-0010H ● ● ● RW
D2009+100*n Status word of slave station number n 0 6041H-0010H
▲ ▲ ▲
R
D2010+100*n Control mode of slave station number n 2 6060H-0008H RW
D2011+100*n Actual mode of slave station number n 2 6061H-0008H R
Velocity Control
Slave station number n=0–7
Special D Description of Function Default:
CAN
Index
PDO Default:
R/W
1 2 3 4
D2001+100*n Torque restriction on slave station number n 0 6072H-0010H RW
D2012+100*n Target speed of slave station number n 0 6042H-0010H ● RW
D2013+100*n Actual speed of slave station number n 0 6043H-0010H
▲
R
D2014+100*n Error speed of slave station number n 0 6044H-0010H R
D2015+100*n Acceleration time of slave station number n 1000 604FH-0020H R
D2016+100*n Deceleration time of slave station number n 1000 6050H-0020H RW
20XXH correspondences: MI / MO / AI / AO
Slave station number n=0–7
Special D Description of Function Default:
CAN
Index
PDO Default:
R/W
1 2 3 4
D2026+100*n MI status of slave station number n 0 2026H-0110H
▲ RW
D2027+100*n MO setting of slave station number n 0 2026H-4110H ● RW
D2028+100*n AI1 status of slave station number n 0 2026H-6110H
▲ RW
D2029+100*n AI2 status of slave station number n 0 2026H-6210H ▲ RW
D2030+100*n AI3 status of slave station number n 0 2026H-6310H
▲ RW
D2031+100*n AO1 status of slave station number n 0 2026H-A110H ● RW
D2032+100*n AO2 status of slave station number n 0 2026H-A210H ● RW
D2033+100*n AO3 status of slave station number n 0 2026H-A310H ● RW
PDO reflection length setting:
Special D Description of Function
Default:
R/W
D2034+100*n Real-time transmission setting of slave station number n 000AH
RW
D2067+100*n Real-time reception setting of slave station number n
0000H RW