Operating Instructions

CANopen Overview
CANopen Supported Index
370 | 443
1
Dir
0: Motor FWD run
1: Motor REV run
2
Warn
Warning occurs
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
Actual position (absolute)
06h
R
07h
R
S16
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
velocity mode target velocity
0
RW
S16
rpm
Yes
vl
6043h
0
velocity mode velocity demand
0
RO
S16
rpm
Yes
vl
6044h
0
velocity mode control effort
0
RO
S16
rpm
Yes
vl
604Fh
0
velocity mode ramp function time
10000
RW
U32
1ms
Yes
vl
The minimum unit is 100 ms. For
example, when it is set to 290 ms,
it is regarded as 200 ms. When it
is set to 10301 ms, it is regarded
as 10300 ms. In addition, it cannot
be set to zero.
6050h
0
velocity mode slow down time
10000
RW
U32
1ms
Yes
vl
6051h
0
velocity mode 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