Chapter 13 CANopen Overview |C200 Series
13-15
Index Sub Definition
Factory Setting
R/W Size Note
4
4.Mapped Object
20266310H
RW U32
0
Number
3
RW U8
1
1.Mapped Object
60410010H
RW U32
2
2.Mapped Object
60640020H
RW U32
3
3.Mapped Object
60610008H
RW U32
1A02H
4
4.Mapped Object
0
RW U32
0
Number
3
RW U8
1
1.Mapped Object
60410010H
RW U32
2
2.Mapped Object
60770010H
RW U32
3
3.Mapped Object
60610008H
RW U32
1A03H
4
4.Mapped Object
0
RW U32
C200 Index:
Parameter index corresponds to each other as following:
Index sub-Index
2000H + Group member+1
For example:
Pr.10.15 (Encoder Slip Error Treatment)
Group member
10(0
A H) - 15(0FH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
C200 Control Index:
Delta Standard Mode (Old definition)
Index Sub Definition
Factory
Setting
R/W Size Note
0 Number 3 R U8
00B:disable
01B:stop
10B:disable
Bit 0~1
11B
: JOG Enable
Bit2~3 Reserved
00B:disable
01B: Direction forward
10B: Reverse
Bit4~5
11B
: Switch Direction
00B: 1
st
step
acceleration/deceleration
Bit6~7
01B
: 2
nd
step
acceleration/deceleration
1 Control word 0 RW U16
Bit8~15 Reserved
2 vl target velocity（Hz） 0 RW U16
2020H
3 Other trigger 0 RW U16 Bit0 1
: E.F. ON
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