Delta C2000 Series User Manual

Chapter 15 CANopen Overview C2000
15-23
Index
2026-01
bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 bit8 bit9 bit10 bit11 bit12 bit13 bit14 bit15
1 FWD REV MI1 MI2 MI3 MI4 MI5 MI6 MI7 MI8
2 MI10 MI11 MI12 MI13 MI14 MI15
3 MI10 MI11 MI12 MI13
1: Control broad I/O (Standard)
2: Add external card, EMC-D611A
3: Add external card, EMC-D42A
Index
2026-41
bit0 bit1 bit2 bit3 bit4 bit5 bit6 bit7 bit8 bit9 bit10 bit11 bit12 bit13 bit14 bit15
1 RY1 RY2 MO1 MO2
2 MO10 MO11
3 RY10 RY11 RY12 RY13 RY14 RY15
1: Control broad I/O (Standard)
2: Add external card, EMC-D42A
3: Add external card, EMC-R6AA
Delta Standard Mode (New definition)
Index sub R/W Size
Descriptions
Speed Mode Position Mode Home Mode Torque Mode
bit DefinitionPriority
2060h
00h R U8
0: Stop Homing
01h RW U16
0
Ack 4
0: fcmd =0
1: fcmd = Fset(Fpid)
Pulse 1: Position
control
Pulse 1: Return
to home
1
Dir 4
0: FWD run command
1: REV run command
2
0: Relative move
1: Absolute move
3
Halt 3
0: drive run till target
speed is attained
1: drive stop by
declaration setting
The torque target
of internal
decoding is set
as 0, but the
display of outside
torque target will
remain its outside
setting.
4
Hold 4
0: drive run till target
speed is attained
1: frequency
stop at current
frequency
5
JOG 4
0: JOG OFF
Pulse 1: JOG RUN
6
Qstop 2 Quick Stop Quick Stop Quick Stop Quick Stop
7
Power 1
0: Power OFF
1: Power ON
0: Power OFF
1: Power ON
0: Power OFF
1: Power ON
0: Power OFF
1: Power ON
8
Reserved
9
Ext Cmd2 4
0->1: Absolute
position cleared
0->1: Absolute
position cleared
0->1: Absolute
position cleared
0->1: Absolute
position cleared
10–14
Reserved
15
RST
Pulse 1: Fault code
cleared
Pulse 1: Fault
code cleared
Pulse 1: Fault
code cleared
Pulse 1: Fault
code cleared
02h RW U16
Mode
Cmd
0: Speed mode
1: P2P position
mode
3: Home mode 2: Torque mode
03h RW U16
Speed command
(unsigned decimal)
04h RW U16
05h RW S32
Position
command

Delta C2000 Series Specifications

General

Brand	Delta
Model	C2000 Series
Category	DC Drives
Language	English