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Chapter 15 CANopen Overview C2000 Plus

15-28

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 ms Yes vl

Unit must be 100 ms, and check if

the setting is 0.

6050H 0 vl slow down time 10000 RW U32 ms 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 of 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

6065H 0 Following error window 1000 RW U32 pulse Yes

6067H 0 Position window 10 RW U32 pulse Yes

6068H 0 Position window time 500 RW U16 ms 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

606Ch 0 Velocity actual value 0 RO I32 rpm Yes

6080h 0 Max motor speed 0 RW U32 rpm Yes

6087h 0 Torque slope 0 RW U32 ms No tq

60C0h 0 Interpolation sub mode selection 0 RW I16 No ip

60C1h 1 Position command 0 RW I32 pulse No ip

60C1h 2

Velocity – position command

difference

0 RW I16

pulse/

sec

No ip

60C2h 1 Interpolation time period value 0 RW U8 ms No ip

60C2h 2 Interpolation time index 0 RW U8 No ip

Brand	Delta
Model	VFD040C43A-21
Category	DC Drives
Language	English

Delta VFD040C43A-21 User Manual

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Delta VFD040C43A-21 Specifications

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