Delta MH300 Series - Page 856

Chapter 15 CANopen Overview
MH300
15-27
Index
sub
R/W
Size
Descriptions
Speed Mode Position Mode Home Mode Torque Mode
bit
Definition
Priority
2061h
05h
R S32
Actual position
(absolute)
Actual position
(absolute)
Actual position
(absolute)
Actual position
(absolute)
06h
R
07h
R
S16
Actual torque
Actual torque
Actual torque
Actual torque
DS402 Standard
Index Sub Definition Default R/W Size Unit
PDO
Map
Mode Note
6007h 0
Abort connection option
code
2 RW S16 Yes
0: No action
2: Disable voltage
3: Quick Stop
603Fh
0
Error code
0
R0
U16
Yes
6040h
0
Control word
0
RW
U16
Yes
6041h
0
Status word
0
R0
U16
Yes
6042h
0
vl target velocity
0
RW
S16
rpm
Yes
vl
6043h
0
vl velocity demand
0
RO
S16
rpm
Yes
vl
6044h
0
vl control effort
0
RO
S16
rpm
Yes
vl
604Fh
0
vl ramp function time
10000
RW
U32
1ms
Yes
vl
Unit must be 100
ms, and
check if the setting is 0.
6050h
0
vl slow down time
10000
RW
U32
1ms
Yes
vl
6051h
0
vl quick stop time
1000
RW
U32
1ms
Yes
vl
605Ah 0 Quick stop option code 2 RW S16 No
0: Disable drive function
1: Slow down on slow down
ramp
2: Slow down on quick stop
ramp
5: Slow down on slow down
ramp and stay in QUICK
STOP
6: Slow down on quick stop
ramp and stay in QUICK
STOP
605Ch 0
Disable operation option
code
1 RW S16 No
0: Disable drive function
1: Slow down with slow
down ramp; disable the
drive function
6060h 0 Mode of operation 2 RW S8 Yes
1: Profile Position mode
2: Velocity mode
4: Torque Profile mode
6: Homing mode
6061h
0
Mode of operation display
2
RO
S8
Yes
Same as above
6062H
0
Position demand value
0
RO
S32
pulse
Yes
6064H
0
Position actual value
0
RO
S32
pulse
Yes
6071H
0
Target torque
0
RW
S16
0.1%
Yes
tq
Valid unit: 1%
6072H
0
Max torque
1500
RW
U16
0.1%
Yes
tq
Valid unit: 1%
6075H
0
Motor rated current
0
RO
U32
mA
No
tq
6077H
0
Torque actual value
0
RO
S16
0.1%
Yes
tq
6078H
0
Current actual value
0
RO
S16
0.1%
Yes
tq
6079H
0
DC link circuit voltage
0
RO
U32
mV
No
tq
607AH
0
Target position
0
RW
S32
pulse
Yes