Delta C2000 Series User Manual page 617

Chapter 16 PLC Functions Applications
Special D
D1097
D1098
The third block is the slave station mapping and control area.
CANopen provides a PDO method to perform mapping of the master and slave station memory, and
enables the master to directly access read/write data in a certain memory area. The master will
automatically perform data exchange with the corresponding slave device, and the read/write values can
be seen directly from the special D area after real-time exchange (M1034 = 1 time) has been established.
The C2000 currently supports real-time mapping of four PDOs, and there are two types of PDO RXPDO
(reads slave device information) and TXPDO (writes to slave device). In addition, in order to facilitate
control, the C2000 cannot perform mapping of commonly-used registers; the following is an overview of
the current PDO mapping situation:
Descriptio
Controller
Word
Target
torque
Control
method
Description
Mode word
Actual
torque
Actual
mode
Because usage requires only simple to open the corresponding PDO, where TXPDO employs
D2034+100*n settings and RXPDO employs D2067+100*n settings.
These two special D areas are defined as follows:
Default
definition
Definition
En: indicates whether PDO is used
Length: indicates mapping of several variables
In a simple example, if we wish to control a C2000 slave device and cause it to operate in speed mode, we
only have to make the following settings:
C2000 Series
Description of Function
Corresponding real-time transmission type
(PDO)
Setting range: 1~240
Corresponding real-time receiving type (PDO)
Setting range: 1~240
PDO4 (Torque) PDO3 (Position)
Special D Descriptio
n
D2008+1 Controller
00*n Word
D2017+1 Target
00*n
D2010+1 Control
00*n method
PDO4 (Torque) PDO3 (Position)
Special D Description
D2009+100*
Mode word
n
D2018+100* Actual
n position
D2011+100*
Actual mode
n
PDO4
Torque
bit 15 14 ~ 12
En Length:
TX PDO
PDO2 (Remote I/O)
Special D Description
n
D2008+1 Slave
00*n device DO
D2020+1 Slave
00*n device AO1
D2021+1
00*n
D2010+1 Slave
00*n device AO2
Slave device
AO3
RXPDO
PDO2 (Remote I/O)
Special D Description
D2009+100*
Slave device DI
n
D2022+100*
n Slave device
D2023+100* AI1
n
D2011+100* Slave device
n AI2
Slave device
AI3
PDO3
Position Remote I/O
11 10 ~ 8 7
En Length: En
16-126
Default: R/W
RW
1
RW
1
Special D Descriptio
D2027+1 Controller
00*n Word
D2031+1 Target
00*n speed
D2032+1
00*n
D2033+100
*n
PDO1 (Speed)
Special D Description
D2026+100*
Mode word
n
D2028+100* Actual
n frequency
D2029+100*
n
D2030+100*
n
PDO2 PDO1
Speed
6 ~ 4 3 2 ~ 0
Length: En Length:
PDO1 (Speed)
Special D
n
D2008+1
00*n
D2012+1
00*n
Special D
D2009+100*
n
D2013+100*
n