Delta MH300 Series - 15-4 CANopen Supporting Index

Chapter 15 CANopen Overview
MH300
15-20
15-4 CANopen Supporting Index
MH
300 Index:
The parameter index corresponds as shown in this example:
Index sub-Index
2000H + Group Pr. Number + 1
For example:
Pr.10-15 (Encoder Slip Error Treatment)
Group Pr. Number
10 (0AH) - 15 (0FH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
MH300 Control Index:
Delta Standard Mode (Old Definition)
Index
Sub
Definition
Default
R/W
Size
Note
2020H
0
Number
3
R
U8
1 Control word 0 RW U16
bit 1–0
00B: Disable
01B: Stop
10B: Disable
11B: JOG Enable
bit 3–2
Reserved
bit 5–4
00B: Disable
01B: Direction forward
10B: Direction reverse
11B: Switch direction
bit 7–6
00B: 1
st
step accel. /decel.
01B: 2
nd
step accel. /decel.
10B: 3
rd
step accel. /decel.
11B: 4
th
step accel. /decel.
bit 11–8
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