Delta C2000 series User Manual page 505

be write in "stop" status, pleas switch PLC to "stop".)
Another method is by setting D1091. Set the corresponding bit of the excluding slave
to 0 (slave station range from No.1~8). For example, if the user wants to exclude slave
No. 2, 6 and 7, please set D1091 = 003B by following steps: WPL Editor >
communication> Edit Register Memory(T C D)
3. Setup the communication setting. If following conditions apply to you then no additional
setting needs to be done:
If the only control in this application is the speed mode of AC motor drive. (For
other control such as position and torque control, D2000~D2799 should be set. Please
refer to synchronous control on position, torque and zero return for more set up detail.
To perform synchronous control on position for the slave, please enable the
corresponding function PDO 3. (P to P function is not yet supported by C2000.)
To activate PDO 3 TX (Master sending command to Slave), please set up bit
8~11 of the PLC address D2034+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 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
PDO4 PDO3
Torque Position
15 14 ~ 12 11
Number En Number
PDO4 PDO3
Torque Position
15 14 ~ 12 11
Number En
16-82
Chapter 16 PLC Function |C2000 Series
PDO2
Remote I/O
10 ~ 8 7 6 ~ 4
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