Delta CP2000 Series User Manual

Chapter 15 CANopen Overview│CP2000
15-14
15-4 CANopen Supporting Index
CP2000 Index:
The parameter index corresponds as following in this example:
Index sub-Index
2000H + Group member+1
For example:
Pr.10-15 (Encoder Slip Error Treatment)
Group member
10(0AH) - 15(0FH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
CP2000 Control Index:
Delta Standard Mode (Old definition)
Index Sub Definition
Factory
Setting
R/W Size Note
2020H
0 Number 3 R U8
1 Control word 0 RW U16
bit1–0 00B
: disable
01B: stop
10B: disable
11B: JOG Enable
bit3–2 Reserved
bit5–4 00B: disable
01B: Direction forward
10B: Reverse
11B: Switch Direction
bit7–6 00B: 1
st
step Accel. /Decel.
01B: 2
nd
step Accel. /Decel.
10B: 3
rd
step Accel. /Decel.
11B: 4
th
step Accel. /Decel.
bit11–8 0000B: Master speed
0001B: 1
st
step speed
0010B: 2
nd
step speed
0011B: 3
rd
step speed
0100B: 4
th
step speed
0101B: 5
th
step speed
0110B: 6
th
step speed
0111B: 7
th
step speed
1000B: 8
th
step speed
1001B: 9
th
step speed
1010B: 10
th
step speed
1011B: 11
th
step speed
1100B: 12
th
step speed
1101B: 13
th
step speed
1110B: 14
th
step speed
1111B: 15
th
step speed
bit12 1: Enable the function of
bit6–11
bit15 Reserved
2
Freq. command
(XXX.XXHz)
0 RW U16
3 Other trigger 0 RW U16 bit0 1: E.F. ON

Delta CP2000 Series Specifications

General

Output Voltage	0 ~ Input Voltage
Communication Interface	RS-485
Storage Temperature	-20°C to 60°C
Input Voltage	200-240V AC, 380-480V AC
Protection Functions	Overcurrent, Overvoltage, Undervoltage, Overtemperature, Short Circuit