Delta C2000 series User Manual page 514

Homing/Position Control:
The corresponding registers for Homing/Position Mode are listed in the chart below:
Special M Control Setting
Special M
M1040 Power ON
Run till the new position is attained. For M1048 to function, also need to set
M1048
control mode to position mode (D1060=1) and set M1040 = 1.
Home action begins. For 1055 to function, also need to set control mode to
M1055
position mode (D1060=3) and set M1040=1.
Special M Status
Special M
M1064 Target position attained
M1070 Homing completed
M1071 Homing error
Special D Control Setting
Special D
D1060 Mode selection (1: Position, 3: Homing)
Special D Status
Special D
D1050 Actual mode (0:Speed, 1: Position, 2: Torque, 3: Homing)
D1051 Actual position (Low word)
D1052 Actual position (High word)
※ Read both D1051 and D1052 for actual position. The display value is in signed decimal.
Control Command for Position Mode:
DPOS(P)
Target position (signed decimal)
Example of Homing and Position Mode:
Before setting PLC program to homing mode or position mode, maker sure the motor parameter
settings of the AC motor drive are completed.
1. Set Pr.00-40 to homing mode and set up corresponding limit sensor and origin point by MI
(MI=44 is for reverse run limit, MI=45 is for forward run limit and MI=46 is for homing to origin
point). C2000 series AC motor drive only supports Z phase homing to origin point, please
choose an Encoder with Z phase.
Description
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Description
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Chapter 16 PLC Function |C2000 Series
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