Chapter 15 CANopen OverviewMS300 (High Speed Model)
15-19
Delta Standard Mode (New definition)
Index sub R/W Size
Descriptions
Speed Mode
bit Definition Priority
2060h
00h R U8
01h RW U16
0 Ack 4
0: fcmd =0
1: fcmd = Fset (Fpid)
1 Dir 4
0: FWD run command
1: REV run command
2
3 Halt 3
0: Drive run till target speed is attained
1: Drive stop by declaration setting
4 Hold 4
0: Drive run till target speed is attained
1: Frequency stop at current frequency
5 JOG 4
0: JOG OFF
Pulse 1: JOG RUN
6 QStop 2 Quick Stop
7 Power 1
0: Power OFF
1: Power ON
8 Ext_Cmd2 4 0-> 1: Clear absolute position
14~8
15 RST 4 Pulse 1: Fault code cleared
02h RW U16 Mode Cmd 0: Speed mode
03h RW U16 Speed command (unsigned decimal)
04h RW U16
05h RW S32
06h RW
07h RW S16
08h RW U16
2061h
01h R U16
0 Arrive Frequency attained
1 Dir
0: Motor FWD run
1: Motor REV run
2 Warn Warning
3 Error Error detected
4
5 JOG JOG
6 QStop Quick stop
7 Power On Switch ON
15~8
02h R
03h R U16 Actual output frequency
04h R
05h R S32
06h R
07h R S16
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