Delta C2000 series User Manual page 568
Classical field oriented control
ac motor drive
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Also See for C2000 series:
- User manual (936 pages) ,
- Manual (22 pages) ,
- Product application (5 pages)
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Bit
Definition En
The pre-defined setting of PDO 3 TX has corresponded to CANopen control word
"Index 6040"and CANopen target position" Index 607A". If position control is the
only control in this application then simply set Special D register value to 0x0A00.
To activate PDO 3 RX (Slave response with the status to Master), please set up
bit 8~11 of the PLC address D2067+n*100. This special D register is defined as
below:
Bit
Definition En
The pre-defined setting of PDO 3 TX has corresponded to CANopen control word
"Index 6041"and CANopen actual position" Index 6064". If position control is the
only control in this application then simply set Special D register value to 0x0A00.
In same theory, to perform torque control, please enable the mapping function
PDO4.
The speed for 1 corresponding cycle is 8ms. (When shorten the cycle time to < 8ms,
make sure the time is enough for the data to be transmitted.
User should calculate the corresponding PDO quantity before setting the cycle. The
PDO quantity should not be greater than the N. The quantity can be calculated by the
following formula.
N = (1 cycle (ms) * rate (kbs) )/250
Example: 1 cycle is 2ms, speed= 1000k, max PDO value is 2*1000/250 = 8. If user
wants to set the cycle time to 2ms, turns off 4 of the C type AC motor drive slave
stations must be turned off (since the pre-defined setting is 8 slaves, half of the
slave station would be 4). The slave station can be turned off by setting the
D2000+n*100 of the unused slaves to 0.
Number of control station ≤ 8.
Controlling 8 slave stations at once can only be done by asynchronous control where
to Read/Write the slave is done by CANRX and CANTX command. This is similar to
the Read/Write action of Modbus protocol.
The slave complies with DS402 standard.
Does not control Slave IO terminal.
If above conditions do not apply, please set up the slave corresponding addresses
manually by open WPL editor > communication> Edit Register Memory (T C D).
PDO4
PDO3
Torque
Position
15
14 ~ 12
11
Number
En
PDO4
PDO3
Torque
Position
15
14 ~ 12
11
Number
En
16-121
Chapter 16 PLC Function C2000 Series
PDO2
Remote I/O
10 ~ 8
7
6 ~ 4
Number
En
Number
PDO2
Remote I/O
10 ~ 8
7
6 ~ 4
Number
En
Number
PDO1
Speed
3
2 ~ 0
En
Number
PDO1
Speed
3
2 ~ 0
En Number
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