Delta CT2000 Series, Руководство пользователя

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Chapter 16 PLC Function

CT2000 Series
16-36
1. The range of n is 0-7
2. ● Indicates PDOTX, ▲ Indicates PDORX; unmarked special D can be refreshed using the
CANFLS command
Special D Description of Function Default: R/W
D2000+100*n
Station number n of slave station
Setting range: 0~127
0: No CANopen function
0 RW
D2002+100*n Manufacturer code of slave station number n (L) 0 R
D2003+100*n Manufacturer code of slave station number n (H) 0 R
D2004+100*n Manufacturer's product code of slave station number n (L) 0 R
D2005+100*n Manufacturer's product code of slave station number n (H) 0 R
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
Torque control
Slave station number n=0-7
Special D Description of Function Default:
CAN
Index
PDO Default:
R/W
1 2 3 4
D2017+100*n Target torque of slave station number n 0 6071H-0010H ● RW
D2018+100*n Actual torque of slave station number n 0 6077H-0010H
▲
R
D2019+100*n Actual current of slave station number n 0 6078H-0010H R
Position control
Slave station number n=0-7
Special D Description of Function Default:
CAN
Index
PDO Default:
R/W
1 2 3 4
D2020+100*n Target of slave station number n (L) 0
607AH-0020H ●
RW
D2021+100*n Target of slave station number n (H) 0 RW
D2022+100*n
Actual position of slave station number n
(L)
0
6064H-0020H
▲
R
D2023+100*n
Actual position of slave station number n
(H)
0 R
D2024+100*n Speed chart of slave station number n (L) 10000
6081H-0020H
RW
D2025+100*n Speed chart of slave station number n (H) 0 RW