Chapter 15 CANopen Overview C2000
15-19
15-4 CANopen Supporting Index
C2000 Index:
The parameter index corresponds as shown in this example:
Index sub-Index
2000H + Group member+1
For example:
Pr. 10-15 (Encoder Slip Error Treatment)
Group member
10(0AH) - 15(0FH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
C2000 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
bit1–0 00B
: disable
01B: stop
10B: disable
11B: JOG Enable
bit3–2 Reserved
bit5–4 00B:disable
01B: Direction forward
10B: Reverse
11B: Switch Direction
bit7–6 00B: 1
st
step Accel. /Decel.
01B: 2
nd
step Accel. /Decel.
10B: 3
rd
step Accel. /Decel.
11B: 4
th
step Accel. /Decel.
bit11–8 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
bit12 1: Enable the function of
bit6-11
bit 15 Reserved
2
Freq. command
(XXX.XXHz)
0 RW U16
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