Delta CMM EC02 EtherCAT Comm Card Operation Manual

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CMM-EC02
EtherCAT Communication Card Operation
Manual
Applicable Products:
CMM-EC02 (MS300 / MH300 Option Card)
Drive Firmware Version: MS300 V1.07 / MH300 V1.02 or later

Application
CMM-EC02Communication Card Firmware Version: V1.01 or later
DELTA_IA-MDS_VFD-M300 Series_CMM-EC02_OM_Eng_20211209
Send Quote Requests to info@automatedpt.com

Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
Send Quote Requests to info@automatedpt.com Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.com
Copyright notice
©Delta Electronics, Inc. All rights reserved.
All information contained in this user manual is the exclusive property of Delta Electronics Inc.
(hereinafter referred to as "Delta ") and is protected by copyright law and all other laws. Delta
retains the exclusive rights of this user manual in accordance with the copyright law and all
other laws. No parts in this manual may be reproduced, transmitted, transcribed, translated or
used in any other ways without the prior consent of Delta.
Limitation of Liability
The contents of this user manual are only for the use of the products manufactured by Delta.
Except as defined in special mandatory laws, Delta provides this user manual “as is” and does
not offer any kind of warranty through this user manual for using the product, either express or
implied, including but not limited to the following: (i) this product will meet your needs or
expectations; (ii) the information contained in the product is current and correct; (iii) the product
does not infringe any rights of any other person. You shall bear your own risk to use this product.
In no event shall Delta, its subsidiaries, affiliates, managers, employees, agents, partners and
licensors be liable for any direct, indirect, incidental, special, derivative or consequential damages
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unless the laws contain special mandatory provisions to the contrary.
Delta reserves the right to make changes to the user manual and the products described in the
user manual without prior notice and afterwards.

Caution
This operation manual provides information on specifications, installation instructions, basic
operations/configurations, and details on network communication protocols.
 The AC motor drive is a sophisticated electronic device. For the safety of the operator and your
mechanical equipment, only qualified electrical engineers are allowed to perform the
installation/trial runs and make parameter adjustments. If you have any question or concern,
please contact your local Delta distributor. Our professional staff will be very glad to help you.
 Please read this manual carefully and follow the instructions completely to avoid device damage
or personal injury.

Table of Contents
1. Introduction ................................................................................................................................ 6
1.1 Network Functions and Specifications ...................................................................... 6
1.2 Product Appearance ................................................................................................. 7
1.2.1 Panel Cut Out Dimensions ............................................................................... 7
1.2.2 Components ..................................................................................................... 7
1.3 LED Indicators .......................................................................................................... 8
1.4 RJ45 PIN Definition .................................................................................................. 8
1.5 Application ................................................................................................................ 8
1.5.1 Applicable firmware version and supporting mode ........................................... 8
2. Installation and Wiring............................................................................................................... 9
2.1 Mounting Position of Communication Card .............................................................. 9
2.2 Install and Remove Option Cards ........................................................................... 10
2.2.1 Communication Cable and Grounding........................................................... 10
 Communication Cable ............................................................................................ 10
 Grounding ................................................................................................................ 11
2.2.2 MS300 Installation ......................................................................................... 13
MS300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) Frame
A-F 13
2.2.3 MH300 Installation ......................................................................................... 15
MH300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) –
Frame A – I.............................................................................................................. 15
2.3 Network Connection ................................................................................................. 18
2.4 MH300 / MS300 Drive Settings .............................................................................. 18
2.5 ESI (EtherCAT Slave Information) .......................................................................... 18
3. Introduction to EtherCAT......................................................................................................... 19
3.1 Protocol .................................................................................................................. 19
3.2 EtherCAT State Machine ........................................................................................ 20
4. System Setup ........................................................................................................................... 21
4.1 Asynchronous ......................................................................................................... 21
4.2 PDO mapping configuration ................................................................................... 22
4.2.1 Default PDO mapping configuration ............................................................... 22
4.2.2 Set PDO mapping .......................................................................................... 23
5. CiA402 equipment regulation.................................................................................................. 24
5.1 CANopen over Ethernet (CoE) State Machine ....................................................... 24
5.2 EtherCAT Operation Mode ..................................................................................... 26
5.2.1 Velocity Mode ................................................................................................. 26
6. Communication Warning / Fault Table.................................................................................... 28
6.1 Motor drive warning / fault table.............................................................................. 28

6.2 SDO Abort Code ..................................................................................................... 29

7. Operation Example .................................................................................................................. 30
7.1 Delta PLC-AX-8 Operation Example (Designer-AX (Codesys base)) ..................... 30
7.2 Delta PLC – AH10EMC Operation Example (ECAT Builder) .................................. 39
Appendix A. ...................................................................................................................................... 49
A.1 Description of Object Specification ......................................................................... 49
A.1.1Object Type .................................................................................................... 49
A.1.2Data Type ....................................................................................................... 49
A.2 Object Dictionary .................................................................................................... 50
A.2.1OD 1000h Communication Group .................................................................. 50
A.2.2OD 3000h Motor Drive’s Parameter Group .................................................... 50
A.2.3OD 6000h Communication Object Group....................................................... 50
A.3 Detailed Information about Objects ........................................................................ 51
A.3.1OD 1000h Communication Group .................................................................. 51
A.3.2OD 3000h Motor Drive’s Parameter Group .................................................... 56
A.3.3OD 6000h Communication Object Group....................................................... 57
Issued Edition 01
Issued Date: December 2021

.
1. Introduction
1.1 Network Functions and Specifications
 Ethernet Specifications
Item Specifications
Interface RJ45
Number of Ports 2 ports
Communication Mode IEEE802.3, IEEE802.3u
Cable Category 5e shielding 100 M
Transmission Speed 10 / 100 Mbps Auto-Defect
Communication Protocol EtherCAT
Synchronization Mode Free Run mode (asynchronous)
Process Data Object (PDO)
Communication Object Service Data Object (SDO)
Emergency Object (EMCY)
Application Layer
CiA402 drive profile
Specifications
Supported CiA402 Velocity Mode
 Environment Conditions
Item Specifications
ESD (IEC 61800-5-1, IEC 6100-4-2)
Noise Immunity EFT (IEC 61800-5-1, IEC 6100-4-4)
Surge Test (IEC 61800-5-1, IEC 6100-4-5)
Conducted Susceptibility Test (IEC 61800-5-1, IEC 6100-4-6)
Operating Temperature -10°C–50°C (temperature), 90% (humidity)
Storage Temperature -25°C–70°C (temperature), 95% (humidity)
Vibration/Shock International Standard IEC 61800-5-1, IEC 60068-2-6 / IEC 61800-5-1,
Resistance IEC 60068-2-27
 Electrical Specifications
Item Specifications
Power Supply Voltage 15 VDC (supplied by MH300 / MS300 drives)
Power Consumption 0.8 W
Insulation Voltage 500 VDC
Weight (g; approx.) 27 (g)

1.2 Product Appearance
1.2.1 Panel Cut Out Dimensions
Unit: mm [inch]
1.2.2 Components
1. Screw fixing hole 5. L/A OUT (OUT LINK indicator)

2. Positioning hole for communication card 6. L/A IN (IN LINK indicator)
3. Control board connection port 7. ERR (ERR indicator)
4. RJ45 connection port 8. RUN (Communication card RUN indicator)
9. Ground terminal block

1.3 LED Indicators
Name Indicator Status Indication

On Normal status
Pre-operation (on / off 200 ms)
RUN Green Blink
Safe mode (on 200 ms / off 1000 ms)
Off Initial status
Basic configuration error (on / off 200 ms)
Status switch error
Blink
ERROR Red (on 200 ms / off 1000 ms)
Time-out (on 200 ms twice / off 1000 ms)
Off No error
On Network connected
IN LINK Green Blink Network in operation
Off Network not connected
On Network connected
OUT LINK Green Blink Network in operation
Off Network not connected
1.4 RJ45 PIN Definition
RJ45 Diagram PIN # Definition Description
1 Tx+ Positive pole for data transmission

2 Tx- Negative pole for data transmission
3 Rx+ Positive pole for data reception
4 -- N/C
5 -- N/C
6 Rx- Negative pole for data reception
7 -- N/C
8 -- N/C
1.5 Application
1.5.1 Applicable firmware version and supporting mode

Applicable motor drive
MS300 V1.07 / MH300 V1.02or later
firmware version
Communication card firmware
CMM-EC02 V1.01 or later
version
NOTE: This user manual applies to MH300 and MS300 (hereafter referred to as “M300 series”).

2. Installation and Wiring

This section introduces how CMM-EC02 connects to the M300 series and how CMM-EC02 links to the
internet.
2.1 Mounting Position of Communication Card

 MS300 Mounting Position of Communication Card
Frame A~D (option card mounting box) Frame E and F
(Option card mounting box)

Fig 2-1 Fig 2-2
 MH300 Mounting Position of Communication Card

Frame A~D (option card mounting box) Frame E and F
(Option card mounting box)

Fig 2-3 Fig 2-4

2.2 Install and Remove Option Cards
2.2.1 Communication Cable and Grounding
 Communication Cable
You have to order a communication card together with a communication cable, otherwise you won’t
be able to use the communication card. Verify the communication card model name and the mounting
position to mount that communication card, then select the right communication cable. There are two
kinds of communication cable, select the right cable in the table below according to the mounting
position.
Communication card CMM-EC02 *

Mounting Position 1 Mounting Position 2
Frame Communication Communication
cable cable
A CBM-CL01A
CBM-CL01A
B
C
D
E
CBM-CL02A
F CBM-CL02A
G
H
I
NOTE: CMM-EC02 communication card is shipped with a mounting
box. Order CBM-CL01A or CBM-CL02A together with CMM-EC02
according to the mounting position.
CBM-CL01A
Core
Fig 2-5
CBM-CL02A Core
Fig 2-6

 Grounding
 You must ground the communication card when wiring CMM-EC02. The ground terminal is
included in the communication card package, as shown in Fig.2-7.

A B
Fig 2-7
 Recommended wire size for grounding:

 Wire gauge 16–20 AWG
 Category 5 (Cat5 / Cat5e), Class D or above cable according to ISO/IEC 24702
(ISO/IEC 11801-3) and EIA/TIA 568-A-5
 Maximum cable length 100 m
 Installation of the ground terminal:

 When grounding, it is recommended to use grounding specifically for communication
or clean grounding
 The PE terminal for CMM-EC02 includes PE1 and PE2. It is recommended to ground
PE1 and PE2 at the same time and adjust according to actual situation.
 PE1 (communication reference ground): connects to communication reference ground
internally. Connecting PE1 to the ground reduces noise from those in application.
 PE2 (RJ45 shielded layer): connects to RJ45 shielded layer internally. Connecting
PE2 to the ground reduces noise from periphery.
 Grounding example: If you cannot use grounding specifically for communication, you
can ground the drive’s PE to the equipment. The B end of the grounding wire
connects to the ground terminal block of the communication card, as the circle shows
in Fig.2-8. The A end of the grounding wire connects to the drive’s PE, as the circles
show in Fig.2-9, Fig.2-10, Fig.2-11 and Fig.2-12 by different frames for
MS300/MH300.
PE1
PE2
PE PE
Fig 2-8

MS300 Frame A-C MS300 Frame D-F
Fig 2-10 Fig 2-9

Torque (±10%) Torque (±10%)
Frame A: 9 kg-cm [7.8 Ib-in.] [0.88 Nm] Frame D: 20 kg-cm [17.4 Ib-in.] [1.96 Nm]
Frame B: 15 kg-cm [13.0 Ib-in.] [1.47 Nm] Frame E: 25 kg-cm [21.7 Ib-in.] [2.45 Nm]
Frame C: 20 kg-cm [17.4 Ib-in.] [1.96 Nm] Frame F: 20 kg-cm [17.4 Ib-in.] [1.96 Nm]
MH300 Frame A-C MH300 Frame D-F
Fig 2-11 Fig 2-12
Torque (±10%) Torque (±10%)

Frame A: 9 kg-cm [7.8 Ib-in.] [0.88 Nm] Frame D: 20 kg-cm [17.4 Ib-in.] [1.96 Nm]
Frame B: 15 kg-cm [13.0 Ib-in.] [1.47 Nm] Frame E: 25 kg-cm [21.7 Ib-in.] [2.45 Nm]
Frame C: 20 kg-cm [17.4 Ib-in.] [1.96 Nm] Frame F: 20 kg-cm [17.4 Ib-in.] [1.96 Nm]

2.2.2 MS300 Installation
MS300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) Frame A-F
Installation method: Back-mount the communication card by connecting flat cables to the control board.
 Turn off the power of the motor drive, and then remove the front cover, as shown in Fig.2-13.
 Assemble the connection cable: Connect the connector at one end of the connection cable to the
control board connector. Refer to Section 2.2.1 for more information on connection methods.
 Assemble the supported frame of the option card: Aim the two clips at the two slots on the motor
drive, and then press downward to have the two clips engage the slots, as shown in Fig.2-14.
 Assemble the connection cable: Connect the connector at the other end of the connection cable to
the connector of the communication card.
 Assemble the communication card: Have the terminal block and connector of the communication
card face downward, aim the two holes of the communication card to the position column and press
downward so that the three clips engage the communication card, as shown in Fig.2-15.
 Make sure that three clips properly engage the communication card and then tighten the screws
(suggested torque value: 4–6 kg-cm [3.5–5.2 lb-in.] [0.39–0.59 Nm]), as shown in Fig.2-16.
 Assembly is completed, as shown in Fig.2-17.
Step1: Remove the front cover Step 2: Assemble the supported frame
Fig 2-13 Fig 2-14
Step 3: Assemble the Step 4: Tighten the Step 5: Assembly

communication card screws completed
Fig 2-15 Fig 2-16 Fig 2-17

MS300 Mounting Position 2 (See Section 2.1 for Details on Mounting Position) - Frame A–D (Not
Applicable for Frame E and F)
Installation method: Front-mount the communication card by connecting flat cables to the control board.
 Assemble the communication card: Detach the upper cover of the mounting box for the
communication card by slipping and make the terminal block and connector of the communication
card face upward. Fix the front end of the communication card to the slots, and then rotate it, as
shown in the Fig.2-19.
 Make sure that two clips properly engage the communication card on the backside, and then tighten
the screws (suggested torque value: 4–6 kg-cm [3.5–5.2 lb-in.] [0.39–0.59 Nm]), as shown in Fig 2-
20.
 Attach the front cover of the drive.
 Attach the upper cover to the mounting box for the option card, as shown in Fig.2-21.
 Assemble the mounting box for the option card: Aim the four clips of the mounting box for the option
card at the slots on the upper cover of the motor drive, and then press downward to have the four
clips engage the slots, as shown in the Fig.2-22.
Step1: Remove the Step 2: Assemble the Step 3: Tighten the
front cover communication card screws
Fig 2-18 Fig 2-19 Fig 2-20
Step 5: Assemble the

Step 4: Attach the upper cover
mounting box for the option Step 6: Assembly completed
to the mounting box
card
Fig 2-21 Fig 2-22 Fig 2-23

2.2.3 MH300 Installation
MH300 Mounting Position 1 (See Section 2.1 for Details on Mounting Position) – Frame
A–I
Installation method: Back-mount the communication card by connecting flat cables to the
control board.
 Assemble the supported frame of the option card: Aim the two clips at the two slots on the motor
drive, and then press downward to have the two clips engage the slots, as shown in Fig.2-25.
card face downward, aim the two holes of the communication card to the position column and
press downward so that the three clips engage the communication card, as shown in Fig.2-26.
 Make sure that three clips properly engage the communication card, and then tighten the screws
Step1: Remove the front cover Step 2: Assemble the supported frame
Fig 2-24 Fig 2-25
Step 3: Assemble the Step 4: Tighten the Step 5: Assembly

communication card screws completed
Fig 2-26 Fig 2-27 Fig 2-28

2.2.4 MH300 Mounting Position 2 (See Section 2.1 for Details on Mounting Position) -
Frame A–D
Installation method: Front-mount the communication card by connecting flat cables to the
control board.
 Assemble the communication card: Detach the upper cover of the mounting box for the
communication card by slipping and make the terminal block and connector of the communication
 Make sure that two clips properly engage the communication card on the backside, and then tighten
the screws (suggested torque value: 4–6 kg-cm [3.5–5.2 lb-in.] [0.39–0.59 Nm]), as shown in Fig.2-
31.
 Attach the front cover of the drive.
 Attach the upper cover to the mounting box for the option card, as shown in Fig.2-32.
 Assemble the mounting box for the option card: Aim the four clips of the mounting box for the option
card at the slots on the upper cover of the motor drive, and then press downward to have the four
clips engage the slots, as shown in the Fig.2-33.
Step1: Remove the Step 2: Assemble the Step 3: Tighten the

front cover communication card screws
Fig 2-29 Fig 2-30 Fig 2-31
Step 4: Attach the upper cover Step 5: Assemble the mounting

Step 6: Assembly completed
to the mounting box box for the option card
Fig 2-32 Fig 2-33 Fig 2-34

2.2.5 MH300 Mounting Position 2 (See Section 2.1 for Details on Mounting Position) -
Frame E and F
Installation method: Front-mount the communication card by connecting flat cables to the
control board.
control board connector. Refer to Section 2.1.1 for more information on connection methods. Wire
the cables as Fig.2-36 shows and make sure the core is placed in the groove.
 Make sure that the clip properly engages the communication card, and then tighten the screws
the connector of the communication card, as shown in Fig.2-39.
Step1: Remove the Step 2: Assemble the connection Step 3: Assemble the
front cover cable communication card
Fig 2-35 Fig 2-36 Fig 2-37
Step 4: Tighten the Step 5: Assemble the Step 6: Assembly

screws connection cable completed
Fig 2-38 Fig 2-39 Fig 2-40

2.3 Network Connection

Pay attention to the connection method for EtherCAT because its packet delivery is directional. When
front-mounting the communication card, the delivery direction for CMM-EC02 is from left (IN) to right
(OUT). The diagram below shows the correct wiring for front-mounting CMM-EC02.
After finishing assembling the hardware, supply power to the drive. Then, Pr.09-60 on the drive
should display “EtherCAT”, with a current value of 6. If not, make sure your version of the drive is
correct and verify if the communication card is correctly connected.
2.4 MH300 / MS300 Drive Settings
When you operate MH300 / MS300 through CMM-EC02, you must set the communication card as the
source of controls and settings for MH300 / MS300. Use the keypad to configure the following parameter
addresses to the corresponding values:
Settings /
Keypad Pr. Function Description
Displayed Value
Set communication card as the source of Frequency
Pr.00-20 8
command.
Pr.00-21 5 Set communication card as the control source.
Communication card identification:

Pr.09-60 6 When CMM-EC02 communication card is connected, this
parameter displays”6” (EtherCAT Slave).
Communication decoding method: EtherCAT only supports
Pr.09-30 1
decoding method 2 (60xx).
2.5 ESI (EtherCAT Slave Information)
To make PLC or the host controller identify MH300 / MS300, you must load the product description file
(ESI file). Download the description files from Delta’s download center.
http://www.deltaww.com/iadownload_acmotordrive.
 The file name for M300 series:
MS300: DELTA_IA-MDS_MS300_CMM-EC02_Vx-xx_EC_EP_yyyymmdd.xml
MH300: DELTA_IA-MDS_MH300_CMM-EC02_Vx-xx_EC_EP_yyyymmdd.xml
NOTE:
1. Vx-xx is the firmware version for EtherCAT communication card.
2. yyyymmdd is the release year/month/date.

3. Introduction to EtherCAT
3.1 Protocol
EtherCAT (Ethernet for Control Automation Technology) was created by a German company Beckhoff
based on the Ethernet communication protocol which is applicable on the industrial automation and
industrial open, real-time, on-site fieldbus technology. The EtherCAT Technology Group (ETG) currently
supports and promotes future development of this technology
The Ethernet structure of a motor drive is shown in the image below.

1. Communication layer: This protocol covers communication objects such as PDO, SDO, Sync and
Emergency Objects. It also covers related communication object dictionary.
2. DS402 is the motion control layer (Drives and motion control device profile) It defines the action of
different motions and the parameter setting of the objects when

3.2 EtherCAT State Machine
State Description:
State Description
Init The drive successfully finishes initializing after power-on, and no error occurs.
There are no communications for the application layer.
Pre-Operational Can use mailbox communication for the current status.
Safe-Operational Can read PDO input data (TxPDO)
Cannot receive PDO output data (RxPDO)
Operational Executes cyclic I/O communications. Can process PDO output data (RxPDO).
‘State Switch
Command Description
IP Starts mailbox communication.
PI Interrupts mailbox communication.
PS Starts updating input data (TxPDO).
SP Stops updating input data (TxPDO).
SO Starts updating output data (RxPDO)
OS Stops updating output data (RxPDO)
OP Stops updating input/output data.
SI Stops updating input data and mailbox communication.
OI Stops all input/output data update and mailbox communication.

4. System Setup
4.1 Asynchronous
The motor drive currently supports only Free Run mode (Asynchronous)
Free Run Mode (Asynchronous)
The master and slave stations run asynchronously. Each station has an individual clock that
calculates the time. In other words, the clocks of the master and slave are not synchronized.
The command and feedback transmissions between the master and slave are based on a
sequential order instead of a precise time synchronization. For example, the master sends a
PDO at time T1, and the slave receives the PDO at T2 after the SM2 event.

4.2 PDO mapping configuration
4.2.1 Default PDO mapping configuration
The following table shows the default PDO mapping configuration of the EtherCAT motor drive
for data exchange. This is also defined in the XML file of the EtherCAT slave. You can modify
the PDO mapping configuration according to the requirements.
RxPDO mapping
First group of RxPDO mapping in VL Mode

RxPDO Controlword vl target velocity Mode of Operation
(0x1600) (0x6040) (0x6042) (0x6060)
Max Torque Max Motor Speed
(0x6072) (0x6080)
TxPDO mapping
First group of TxPDO mapping

TxPDO Statusword Mode of Operation Position Actual Value
(0x1A00) (0x6041) Display (0x6064)
(0x6061)
Velocity Actual Value Torque Actual Value Error Code
(0x606C) (0x6077) (0x603F)

4.2.2 Set PDO mapping
The settings are as follows:

1. Disable the PDO configuration: set OD 1C12 sub 0 to 0 (RxPDO) and OD 1C13 sub 0 to 0
(TxPDO).
2. Disable the PDO mapping setting: set OD 1600 sub 0 to 0 (RxPDO) and OD 1A01 sub 0 to
0 (TxPDO).
3. Set the contents and number of RxPDO mappings: set OD 1600 to 1603 sub 1 to sub 8 (RxPDO)
for the content and set OD 1600 to 1603 sub 0 (RxPDO) for the number of RxPDO mappings.
Take the OD 1601 as an example.
Mapping
parameter setting Data Description
for RxPDO
OD 1601 sub1 6040h Controlword, 16-bit
OD 1601 sub2 6060h Modes of operation, 8-bit
OD 1601 sub3 6072h Max torque, 32-bit
OD 1601 sub4 607Ah Target torque, 32-bit
OD 1601 sub5 6080h Max motor speed, 32-bit
Set 5 fort the number of RxPDO
OD 1601 sub0 5
mappings
4. Set the contents and number of TxPDO mappings: set OD 1A00 to1A03 sub 1 to sub 8 (TxPDO)
for the content and set OD 1A00 to 1A03 sub 0 (TxPDO) for the number of TxPDO mappings. Take the
OD 1A00 below as an example
Mapping
parameter setting Data Description
for RxPDO
OD 1A00 sub1 6041h Statusword, 16-bit
OD 1A00 sub2 6061h Modes of operation display, 8-bit
OD 1A00 sub3 6064h Position actual value, 32-bit
OD 1A00 sub4 606Ch Velocity actual value, 32-bit
OD 1A00 sub5 6077h Max motor speed, 32-bit
OD 1A00 sub6 603Fh Error code, 16-bit
Set 6 for the number of RxPDO
OD 1A00 sub0 6
mappings.
5. Set the PDO mapping configuration: set OD 1C12 sub 1 to 0x1601 (RxPDO) and OD 1C13
sub 1 to 0x1A01 (TxPDO).
6. Enable the PDO configuration: set OD 1C12 sub 0 to 1 (RxPDO) and OD 1C13 sub 0 to 1 (TxPDO).

5. CiA402 equipment regulation

This section describes the modes of operation specified by CiA402 when the motor drive is in the
EtherCAT mode. The contents include basic operation and setting of related objects. The host controller
controls the motor drive through the control word (OD 6040h) and read the current status of the motor
drive through the status word (OD 6041h). The motor drive follows the commands from the host
controller to run the motors.
5.1 CANopen over Ethernet (CoE) State Machine
NOTE: As shown in the diagram above, the strings beside the arrows are the control words and the strings in the
squares are the status words.
The state machine can be divided into three blocks.

Block Description
Power Disable Motor drive doesn’t have PWM output.
Power Enable Motor drive has PWM output.
Fault Faults occur

The three big blocks are composed of 9 status

Status Description
Start Power-on
Not Ready to Switch On The motor drive is initializing.
Switch On Disable The motor drive finishes initializing.
The motor drive is waiting to be switch on
Ready to Switch On
(energized). The motor isn’t excited.
The motor drive now has PWM output. The reference
Switch On
command is invalid.
Motor is enabled, it runs by following control
Operation Enable
commands.
Quick Stop Active Motor stops by following parameter setting.
The motor drive detects warning / fault and stops by
Fault Reaction Active following parameter settings. The motor is still
excited.
Fault The motor is not excited.
Control Word (controlword, OD 6040h): Description of Bit

15~9 8 7 6~4 3 2 1 0
Operation
Enable Enable
Reserved Halt Fault reset mode Quick stop Switch on
operation voltage
specific
Status Word (statusword, OD 6041h): Description of Bit

15~14 13~12 11 10 9 8 7
Operation
Target
Reserved mode Reserved Remote Reserved Warning
reached
specific
6 5 4 3 2 1 0
Switch on Voltage Operation Ready to
Quick stop Fault Switch on
disabled enabled enable switch on

5.2 EtherCAT Operation Mode
5.2.1 Velocity Mode

The host controller sends velocity command and acceleration / deceleration data to a motor drive. Then
the motor drive controls the velocity.
vl target velocity (6071h) vl velocity

vl ramp function time (604Fh) Velocity actual
Ramp value
Control
vl slow down time (6050h) Function (6071h)
Function
vl quick stop time (6051h)
Operation Steps are as follows:

1. Set mode: OD 6060h = 02h as velocity mode
2. Set velocity command. OD 6042h (unit: RPM)
3. Set acceleration time OD 604Fh (unit: ms)
4. Set deceleration time OD 6050h (unit: ms)
(1) Set control commands OD 6040h. By following the control word commands listed below to do the
setup, the motor drive operates as mentioned above. Refer to the description of OP 6041h to see
the contents of the state machine.
(2) OD 6040h = 06h, the motor drive goes into < Ready to Switch On > state.
(3) OD 6040h = 0Eh, the motor drive goes into < Switch On > Servo On state.
(4) OD 6040h = 0Fh, the motor drive goes into < Operation Enable > state.
(5) OD 6040h = 7Fh, the motor drive starts running.
Control commands are defined as follows:

Step Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description
(1) 0 0 0 0 1 1 0 Shutdown
(2) 0 0 0 0 1 1 1 Switch On (Enable Servo On ready)
(3) 0 0 0 1 1 1 1 Enable Operation (Enable Servo On)
(4) 1 1 1 1 1 1 1 Runs to the target speed.
When using the velocity mode (OD 6060h = 02h), the controlword bit (bit 4 ~ bit 6) is defined as follows:
OD 6040h
Description
bit 6 bit 5 bit 4
1 0 1 Maintain current speed
1 1 1 Run to the target speed
X X X Decelerate to 0 RPM

Read Motor Drive Data
1. OD 606Ch: to observe motor rotation speed

OD 6041h: Motor drive’s state word, bit 10 target reached (0: Not running to target speed; 1: Run to
the target speed)
Index Related to the Motor Drive

Index Definition Form Attribute
6040h Controlword UNSIGNED16 RW
6041h Statusword UNSIGNED16 RO
6060h Mode of operation INTEGER8 RW
6061h Mode of operation display INTEGER8 RO
6042h vl target velocity INTEGER16 RW
6043h vl velocity demand INTEGER16 RO
6044h vl velocity actual value INTEGER16 RO
604Fh vl ramp function time INTEGER16 RW
6050h vl slow down time INTEGER16 RW

6. Communication Warning / Fault Table

6.1 Motor drive warning / fault table
Warning / Warning / Fault
ID No. Description Corrective Action
Fault / Code Name
Timer out warning on the -Verify if communication
EtherCAT
Communication between system is wiring correctly.
81 ECto_WARN communication time
communication card and the -Verify if the upperhost is
out
host controller. connecting correctly.
-Reinstall the communication
card.
Communication Warning on the disconnected
89 ECCb_WARN -Change a new
card disconnected communication card
communication card or
change a new motor drive.
The source of communication
is not the communication
card. Loss of synchronization
Synchronization -Reinstall a motor drive to the
111 SYCE_WARN signal (data packet) after
warning upperhost.
setting up the synchronization
mode. A warning message
pops up.
The source of command is the
communication card. Loss of
Synchronization synchronization signal (data Reinstall a motor drive to the
161 SYCE_ERR
fault packet) after setting up the upperhost.
synchronization mode. A fault
message pops up.

6.2 SDO Abort Code
SDO Abort Code Description

0x05030000 Deflection fault while doing segment transmission
0x05040000 SDO time out.
0x05040001 Client / servo command are invalid or don’t exist.
0x05040005 Register overflow when running SDO.
0x06010000 Not supported access
0x06010001 Try to read a write-only object
0x06010002 Try to write a read-only object
0x06010003 Unable to write into sub-index. The sub-index has to be 0.
0x06020000 The object doesn’t exist in the object dictionary.
0x06040041 Unable to map the object to PDO
0x06040042 The number and the length of the objects mapped to PDO is longer than PDO.
0x06040043 Format of the parameter is not compatible.
0x06040047 Compatibility issue of motor drive.
0x06060000 Fail to save due to hardware error. (Saving or returning to origin fault)
0x06070010 Incorrect data type; wrong parameter length.
0x06070012 Incorrect data type; parameter length is too long
0x06070013 Incorrect data type; parameter length is too short.
0x06090011 Sub-index doesn’t exist.
0x06090030 The parameter value is out of bounds.
0x06090031 Setting value is too big.
0x06090032 Setting value is too small.
Detected Module Ident List (0xF030) and Configured Module Ident list (0xF050) don’t
0x06090033
match.
0x06090036 Setting value is smaller than the lower limit.
0x08000000 General error
0x08000020 Data cannot be read or written.
0x08000021 Data access denied due to local control.
0x08000022 Data access denied due to current status.
0x08000023 Object dictionary doesn’t exist.

7. Operation Example
7.1 Delta PLC-AX-8 Operation Example (Designer-AX (Codesys base))
AX-8 GLAN1 IP: 192.168.0.10
Computer Network card IP: 192.168.0.123
Equipment
Motor drive: M300
Communication card: CMM-EC02
Software DIADesigner-AX V1.1.0 and above
1. Connect CMM-EC02 to AX-8 EtherCAT port. Then Connect the AX-8 to the Computer via Ethernet
port (GLAN1)
2. Run DIADesigner-AX software, then click on New Project

3. Select Standard project in the New Project window.
4. In the Standard Project window, choose the device AX-8xxEP0 Windows Series, Version and
PLC_PRG in. Then click OK to create a new project.

5. After you create a new project, go to ToolsDevice Repository to open a Device Repository
window.
6. After you open a Device Repository window, click Install.

7. Import an ESI filer of MS300
8. Double click on Device (AX-8xxEP0 Series), then click Scan Network.

9. If you connect the computer and the AX-8 correctly, you can see the AX-8’s serial number. Click OK,
you can see AX-8 hardware information.

10. In the Devices window, select EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master), then go to
EtherCAT I/O Mapping tab to make sure that Bus Cycle Options is set as EtherCAT_Task.
11. In the Devices window, right click on the EtherCAT_Master (AX-8xxEP0 Series EtherCAT Master),
then select Scan for Devices.

12. The pop-up window shows the description of M300 model. Now select the M300 model description
and click Copy All Devices to project.
13. If the pop-up window is blank, verify if the wiring between CMM-EC02 and AX-8 is correct. If the pop-
up window looks the same as the image below, repeat step 5 to step 7 to import the right ESI file.

14. In the Devices window, double click on M300_CMC_EC01_Card (Delta M300 EtherCAT (CoE)) to
open a tab. In the tab, check the Enable expert settings, then on the left side of the tab, click
Expert Process Data to start PDO reflection.
15. In the Expert Process Data screen, click on Insert in the bottom right corner window.

16. A PDO Object mapping window pops up. Select a PDO object to map.
17. After you finish the steps mentioned above, you’ve created a framework and you can start
programming PLC.

7.2 Delta PLC – AH10EMC Operation Example (ECAT Builder)

AH10EMC IP: 192.168.1.1
Computer Network card IP: 192.168.1.123
Equipment
Motor drive: MS300 / MH300
Communication card: CMM-EC02
COMMGR V1.11 and above
Software ISPSoft V3.10 and above
ECAT Builder V1.07 and above
1. Connect CMM-EC02 to AH10EMC EtherCAT port. Then connect AH10EMC to the computer via
Ethernet port.
2. Run COMMGR software, click on the New Driver button. Then on the Ethernet tab, select Ethernet
in the Connection Setup Type drop-down list. Select the right Ethernet card in the Ethernet Card
description drop down list. Then click the Search button, verify if AH10EMC is in the table. Now
click on the Save Driver button to start ISPSoft connection.

3. Run ISPSoft software. Click on icon to create a new project.
4. Select AH MOTION as Controller Type. Then select AH10EMC as PLC Type.
5. Click Tools, select Communication Settings.

6. Select a name for the Driver (the driver name which you created in step 2 of COMMGR). Then select
an IP Address 192.168.1.1.
7. In the Project area, click on Program then click New to create a blank program.

8. Click the Download to PLC button, as soon as the PLC starts to run, the connection between the
PLC and the computer has been established.
9. In the Project area, double click HWCONFIG. Click Upload button to upload PLC parameters and
related settings to HWCONFIG.

10. Right click on the CPU module image as shown below, select Communication Software then click
EtherCAT to do ECAT master / slave station settings in ECAT Builder software.
11. Click on the Network Scan button, then click Scan on the pop-up window. Then select MS300 /
MH300 (CMM-EC02) in the Equipment Name to export to the network. If the scan result doesn’t
show MS300 / MH300 equipment, verify if the wiring is correct. Refer also to the ESI Import Process
at the end of this chapter to import ESI files of slave station and scan again.


12. Import MS300 / MH300 into Network Diagram, then select MS300 / MH300 equipment to do to PDO
mapping. Click Edit to add or delete objects.


13. After you finish editing, click the Download button to download all the settings to the AH10EMC.
Close ECAT Builder and HWCONFIFG, then start programming PLC in the ISPSoft

 Import the ESI file

Click DDF Management Tool button, then follow step by step to import the ESI file. You can
download ESI file in Delta’s download center (See section 2.5).

Appendix A.
A.1 Description of Object Specification
A.1.1 Object Type
Object Type Description
Variable A single value such as a UNSIGNED8, a Boolean, a float and an INTEGER16
An object with multiple data fields composed of multiple variables of the same data
Array type such as UNSIGNED16. The Sub-index 0 data belongs to UNSIGNED8, so it’s not
classified as array data
An object with multiple data fields composed of multiple variables of the same data
Record type. The Sub-index 0 data belongs to UNSIGNED8, so it’s not classified as record
data.
A.1.2 Data Type

Data Type Data Size Range
BOOLEAN 1 bit 0~1
UNSIGNED8 1 byte 0~255
UNSIGNED16 2 bytes 0~65535
UNSIGNED32 4 bytes 0~4294967295
INTEGER8 1 byte -128~127
INTEGER16 2 bytes -32768~327671
INTEGER32 4 bytes -2147483648~2147483647
VISIBLE STRING - -

A.2 Object Dictionary

A.2.1 OD 1000h Communication Group
Index Object Type Name Data Type Attribute
1000h Variable Device type UNSIGNED32 RO
1001h Variable Error register UNSIGNED8 RO
1008h Variable Device name STRING RO
100Ah Variable Software version STRING RO
1018h Record Identity IDENTITY RO
1600h Record Receive PDO mapping PDOMAPPING RW
1A00h Record Transmit PDO mapping PDOMAPPING RW
1C12h Array RxPDO assign UNSIGNED16 RW
1C13h Array TxPDO assign UNSIGNED16 RW
A.2.2 OD 3000h Motor Drive’s Parameter Group

The objects defined here are related to the settings of the motor drive’s parameters. The setting methods
are as follows:
Index 300Xh are related to motor drive’s parameter Group X. The sub-index 1h~64h (hexadecimal)
correspond to the parameter Group X-00 to Group X-99.
For example: Set Pr.05-33 (Induction motor or permanent magnet synchronous motors selection). The
Index is 3005h and the sub-index is 22h (34).
A.2.3 OD 6000h Communication Object Group

PDO
Index Object Type Name Data Type Attribute
Mapping
6007h Variable Abort connection option code INTEGER16 RW N
603Fh Variable Error code UNSIGNED16 RO Y
6040h Variable Controlword UNSIGNED16 RW Y
6041h Variable Statusword UNSIGNED16 RO Y
6042h Variable vl target velocity INTEGER16 RW Y
6043h Variable vl velocity demand INTEGER16 RO N
6044h Variable vl velocity actual value INTEGER16 RO Y
604Fh Variable vl ramp function time INTEGER16 RW N
6050h Variable vl slow down time INTEGER16 RW N
6051h Variable vl quick stop time INTEGER16 RW N
605Ah Variable Quick stop option code INTEGER16 RW N
605Ch Variable Disable operation option code INTEGER16 RW N
6060h Variable Modes of operation INTEGER8 RW Y
6061h Variable Modes of operation display INTEGER8 RO Y
6502h Variable Supported drive modes INTEGER32 RO N

A.3 Detailed Information about Objects
A.3.1 OD 1000h Communication Group

Object 1000h：Device type
Index 1000h
Name Device type
Object Type Variable
Data Type UNSIGNED32
Read-Write Permission RO
PDO Mapping Setting No
Setting Range UNSIGNED32
Object 1001h：Error register

Index 1001h
Name Error register
Data Type UNSIGNED8
PDO Mapping Setting No
Object 1008h：Device name

Index 1008h
Name Device name
Data Type STRING
PDO MAPPING
No
SETTING
Object 100Ah：Software version

Index 100Ah
Name Software version
Data Type STRING
PDO MAPPING
No
SETTING

Object 1018h：Identity
Index 1018h
Name Identity
Object Type RECORD
PDO MAPPING
No
SETTING
Sub-Index 0
Name SubIndex 000
Data Type UNSIGNED8
PDO MAPPING
No
SETTING
Sub-Index 1
Name Vendor ID
PDO MAPPING
No
SETTING
Sub-Index 2
Name Product code
PDO MAPPING
No
SETTING
Sub-Index 3
Name Revision
PDO MAPPING
No
SETTING
Sub-Index 4
Name Serial number
PDO MAPPING
No
SETTING

Object 1600h~1603h：Receive PDO Mapping Parameter

Index 1600h / 1601h / 1602h / 1603h
Name Receive PDO mapping
Object Type RECORD
Data Type PDO mapping
Read-Write Permission RW
PDO MAPPING
No
SETTING
The total length of a PDO set cannot be longer
Note
than 64-bit.
Sub-Index 0
Name Number of Objects
Data Type UNSIGNED8
PDO MAPPING
No
SETTING
0: Disable
Setting Range 1~8: Set number of PDO mapping and enable this
function.
Factory Setting 0
Sub-Index 1~8
Name Mapping entry (n)
PDO MAPPING
No
SETTING
Factory Setting 0
Object 1A00h~1A03h：Transmit PDO Mapping Parameter

Index 1A00h / 1A01h / 1A02h / 1A03h
Name Transmit PDO Mapping Parameter
Object Type RECORD
Data Type PDO mapping
The total length of a PDO set cannot be longer
Note
than 64-bit.
Sub-Index 0
Name Number of Objects
Data Type UNSIGNED8
PDO MAPPING
No
SETTING
0: Disable
Setting Range 1~8: Set number of PDO mapping and enable this
function.
Factory Setting 0

Sub-Index 1~8
Name Mapping entry (n)
PDO MAPPING
No
SETTING
Factory Setting 0
Object 1C12h：RxPDO assign

Index 1C12h
Name RxPDO assign
Object Type ARRAY
PDO MAPPING
No
SETTING
Sub-Index 0
Name Number of assigned RxPDOs
Data Type UNSIGNED8
PDO MAPPING
No
SETTING
Setting Range 0~1
Factory Setting 1
Sub-Index 1
Name Index of assigned RxPDO
PDO MAPPING
No
SETTING
Setting Range 0x1600 / 0x1601 / 0x1602 / 0x1603
Factory Setting 0x1600
Object 1C13h：TxPDO assign

Index 1C13h
Name TxPDO assign
Object Type ARRAY
PDO MAPPING
No
SETTING
Sub-Index 0
Name Number of assigned TxPDOs
Data Type UNSIGNED8
PDO MAPPING
No
SETTING
Setting Range 0~1
Factory Setting 1

Sub-Index 1
Name Index of assigned TxPDO
PDO MAPPING
No
SETTING
Setting Range 0x1A00 / 0x1A01 / 0x1A02 / 0x1A03
Factory Setting 0x1A00

A.3.2 OD 3000h Motor Drive’s Parameter Group

Index 3XXXh
Name Driver parameter
PDO MAPPING
No
SETTING
Factory Setting N/A
You can read/write motor drive’s parameters via this object group. The motor drive’s parameter can only
be changed by SDO.
The setting methods are as follows:

Index 300Xh are related to motor drive’s parameter Group X. The sub-index 1h~64h (hexadecimal)
correspond to the parameter Group X-00 to Group X-99.
For example: Set Pr.05-33 (Induction motor or permanent magnet synchronous motors selection). The
Index is 3005h and the sub-index is 22h (34).

A.3.3 OD 6000h Communication Object Group

Object 6007h：Abort connection option code
Index 6007h
Name Abort connection option code
Data Type INTEGER16
PDO MAPPING
No
SETTING
0: No function
Setting Range 2: Switch on Disable
3: Quick Stop
Factory Setting 2
 When object 6007h = 0, CANopen ignores a disconnection fault, no warning and do nothing.
 When object 6007h =2, CANopen turns to Switch on Disable and displays ECto. CANopen then
follows the setting at object 605Ah to trigger parking. When reconnection is successful, the warning
code disappears.
 When object 6007h = 3, CANopen turns to Quick Stop and displays ECto. CANopen then follows
the set=ting at object 605Ch to trigger parking. When reconnection is successful, the warning code
clears.
Object 603Fh：Error code

Index 603Fh
Name Error code
PDO MAPPING
Yes
SETTING
Factory Setting 0
Object 6040h：Controlword
Index 6040h
Name Controlword
PDO MAPPING
Yes
SETTING
Factory Setting 0

Description of different bits

Bit Function Description
Bit 0 Switch on -
Bit 1 Enable voltage -
Bit 2 Quick stop -
Bit 3 Enable operation -
Bit 4~Bit 6 Operation mode specific Refer to the Specific Model Definition table blow
Bit 7 Fault reset -
Bit 8 Halt -
Bit 9~Bit 15 Reserved -
Specific Model Definition table:

Specific Model Definition
Bit
VL PP Homing IP PT CSP CST
Homing
Enable
Bit 4 Enable ramp New set-point operation - - -
interpolation
start
Bit 5 Unlock ramp Change set immediately - - - - -
0: Absolute target position
Bit 6 Reference ramp - - - - -
1: Relative target position
Bit 8 Halt Halt Halt Halt - - -
Start
Not ready to
switch on
1
15
Switch on
Fault
disabled
2 7 14
Ready to 13 Fault reaction
12 10 switch on active
3 6
Switch on 8 9
4 5
16
Quick stop Operation
active enabled
11

Status Switching Definition table

Status
Event Action
Switching
0、1 Auto run after powering on Activate the device and initialize.
2 Shutdown command N/A
3 Switch on command Motor drive prepares for servo on
Motor drive has servo on and is in
4 Enable operation command
operation.
5 Disable operation command Servo has servo off.
6 Shutdown command N/A
7 Disable voltage or Quick stop command N/A
8 Shutdown command Motor drive has servo off.
9 Disable voltage command Motor drive has servo off.
10 Disable voltage or Quick stop command N/A
11 Quick stop command Enable Quick Stop function.
12 Disable voltage command Motor drive has servo off
13、14 Warning / Fault codes pop up Motor drive has servo off.
15 Warning / Fault codes clear N/A
16 Enable operation；no alarm command Restart operation command.
Via Controlword (6040h), status can be changed, the commands are as follows:
Bit of Controlword (6040h)
Command Status Change
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 X 1 1 0 2、6、8
Switch on 0 0 1 1 1 3
Switch on +
0 1 1 1 1 3+4
Enable operation
Disable voltage 0 X X 0 X 7、9、10、12
Quick stop 0 X 0 1 X 7、10、11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4、16
Fault reset X X X X 15
NOTE: 0 = Bit is off; 1 = Bit is on; X = Bit is not affected; = positive edge triggering
Object 6041h：Statusword
Index 6041h
Name Statusword
PDO MAPPING
Yes
SETTING
Factory Setting 0

Description of different bits

Bit Function Description
Bit 0 Ready to switch on
Bit 1 Switched on
Bit 2 Operation enabled
Bit 0 to Bit6 display current status of the motor drive.
Bit 3 Fault
See table below for details.
Bit 4 Voltage enabled
Bit 5 Quick stop
Bit 6 Switch on disabled
Bit 7 Warning Warning status: motor drive still has servo on.
Bit 8 Reserved -
Bit 9 Remote -
Bit 10 Target reached Target reached
Bit 11 Reserved -
Bit 12~Bit 13 Operation mode specific See Specific Model Definition table below.
Bit 14 Reserved -
Bit 15 Reserved -
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Description

0 - - 0 0 0 0 Not ready to switch on
1 - - 0 0 0 0 Switch on disabled
0 1 - 0 0 0 1 Ready to switch on
0 1 - 0 0 1 1 Switch on
0 1 - 0 1 1 1 Operation enabled
0 0 - 0 1 1 1 Quick stop active
0 - - 1 1 1 1 Fault reaction active
0 - - 1 0 0 0 Fault
NOTE: 0 = bit is off; 1 = bit is on; - means that bit is not functional.
Specific Model Definition table:

Specific Model Definition
Bit
VL PP Homing IP PT CSP CST
Target Target Target Target
Bit 10 - - -
reached reached reached reached
Homing
Bit 12 - - - - - -
attained
Following Homing Following Following
Bit 13 - - -
error error error error

Object 6042h：vl target velocity

Index 6042h
Name vl target velocity
Data Type INTEGER16
PDO MAPPING
Yes
SETTING
Setting Range INTEGER16
Factory setting 0
Unit RPM
This object is a velocity command value under the velocity mode.
Object 6043h：vl velocity demand

Index 6043h
Name vl velocity demand
Data Type INTEGER16
PDO MAPPING
No
SETTING
Unit RPM
This object is a velocity command calculated by the motor drive under the velocity mode.
Object 6044h：vl velocity actual value

Index 6044h
Name vl velocity actual value
Data Type INTEGER16
PDO MAPPING
Yes
SETTING
Unit RPM
This object is the actual running speed under the velocity mode.
Object 604Fh：vl ramp function time

Index 604Fh
Name vl ramp function time
PDO MAPPING
No
SETTING
Factory setting 10000
Unit ms
This object is the time spent when the motor drive accelerates from 0 RPM to 6042h under the
Velocity Mode.

Object 6050h：vl slow down time

Index 6050h
Name vl slow down time
PDO MAPPING
No
SETTING
Unit ms
This object is the time spent when the motor drive decelerates from 6042h to 0 RPM under the Velocity
Mode.
Object 6051h：vl quick stop time

Index 6051h
Name vl quick stop time
PDO MAPPING
No
SETTING
Motor drive parameter 01-45
Setting Range Pr.01-45=0，Setting Range：10~600000
Pr.01-45=1，Setting Range：100~6000000
Unit ms
This object is at velocity mode. It’s the time required for decelerating from 6402h to 0 RPM.
Object 605Ah：Quick stop option code

Index 605Ah
Name Quick stop option code
Data Type INTEGER16
PDO MAPPING
No
SETTING
0: Disable motor drive function
1: Decelerate to stop by slow down ramp then
Switch on Disabled (cannot be back to OP)
2: Decelerate to stop by quick stop ramp then
Setting Range Switch on Disabled (cannot be back to OP)
5: Decelerate to stop by slow down ramp and
keep on Quick Stop status (can be back to OP)
6: Decelerate to stop by quick stop ramp and keep
on Quick Stop status (can be back to OP)
Factory Setting 2
This object is a choice behavior when 6040h (Controlword) triggers Quick Stop bit.

Object 605Ch：Disable operation option code

Index 605Ch
Name Disable operation option code
Data Type INTEGER16
PDO MAPPING
No
SETTING
0: Disable motor drive
Setting Range
1: Decelerate to stop; disable motor drive
Factory Setting 1
This object is a choice behavior of the motor drive when the status switches from Operation Enable to
Switched On.
Object 6060h：Modes of operation

Index 6060h
Name Modes of operation
Data Type INTEGER8
PDO MAPPING
Yes
SETTING
Factory Setting 8
This object is to set up the operation mode. The operation modes are as follows:
Setting
Operation Mode
Value
0 Reserve
1 Profile Position Mode
2 Velocity Mode
3 Reserve
4 Profile Torque Mode
5 Reserve
6 Homing Mode
7 Interpolated Position Mode
8 Cyclic Synchronous Position Mode
9 Reserve
10 Cyclic Synchronous Torque Mode

Object 6061h：Modes of operation display

Index 6061h
Name Modes of operation display
Data Type INTEGER8
PDO MAPPING
Yes
SETTING
Factory Setting 0
This object shows the current operation mode.
Object 6502h：Supported drive modes

Index 6502h
Name Supported drive modes
PDO MAPPING
No
SETTING


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Send Quote Requests to info@automatedpt.com Call +1(800)985-6929 To Order or Order Online At Deltaacdrives.

Drive Firmware Version: MS300 V1.07 / MH300 V1.02 or later

Send Quote Requests to info@automatedpt.com

Send Quote Requests to info@automatedpt.com

This operation manual provides information on specifications, installation instructions, basic

operations/configurations, and details on network communication protocols.

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Send Quote Requests to info@automatedpt.com

6.2 SDO Abort Code ..................................................................................................... 29

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1.1 Network Functions and Specifications

Supported CiA402 Velocity Mode

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1.2 Product Appearance

1.2.1 Panel Cut Out Dimensions

1. Screw fixing hole 5. L/A OUT (OUT LINK indicator)

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1.3 LED Indicators

Name Indicator Status Indication

1.4 RJ45 PIN Definition

RJ45 Diagram PIN # Definition Description

1 Tx+ Positive pole for data transmission

1.5.1 Applicable firmware version and supporting mode

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2. Installation and Wiring

2.1 Mounting Position of Communication Card

(Option card mounting box)

 MH300 Mounting Position of Communication Card

(Option card mounting box)

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2.2 Install and Remove Option Cards

2.2.1 Communication Cable and Grounding

Communication card CMM-EC02 *

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 Recommended wire size for grounding:

 Installation of the ground terminal:

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MS300 Frame A-C MS300 Frame D-F

Fig 2-10 Fig 2-9

MH300 Frame A-C MH300 Frame D-F

Fig 2-11 Fig 2-12

Torque (±10%) Torque (±10%)

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2.2.2 MS300 Installation

Fig 2-13 Fig 2-14

Step 3: Assemble the Step 4: Tighten the Step 5: Assembly

Fig 2-15 Fig 2-16 Fig 2-17

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Fig 2-18 Fig 2-19 Fig 2-20

Step 5: Assemble the

Fig 2-21 Fig 2-22 Fig 2-23

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2.2.3 MH300 Installation

Fig 2-24 Fig 2-25

Step 3: Assemble the Step 4: Tighten the Step 5: Assembly

Fig 2-26 Fig 2-27 Fig 2-28

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Step1: Remove the Step 2: Assemble the Step 3: Tighten the

Fig 2-29 Fig 2-30 Fig 2-31