Delta C2000 Series User Manual page 618

D2034+100*n =000Ah
Lengt
PDO4
h:
Descriptio Special D
n
1 Controller D2008+100*
Word n
2 Target D2017+100*
torque n
3 Control D2010+100*
method n
4
Definition
bit
Definition
D2067+100*n =000Ah
Lengt
PDO4
h:
Description Special D
1 Controller D2009+100
Word *n
2 Actual torque D2018+100
*n
3 Actual mode D2011+100
*n
4
Definition
bit
Definition
Switch the PLC to Run after completing settings. Now wait for successful initialization of CANopen (M1059 =
1 and M1061 = 0), and then initiate CANopen memory mapping (M1034 = 1). The control word and
frequency command will now automatically refresh to the corresponding slave device (D2008+n*100 and
D2012+n*100), and the slave device's status word and currently frequency will also be automatically sent
back to the master station (D2009+n*100 and D2013+n*100). This also illustrates how the master can
handle these tasks through read/write operations in the special D area.
Furthermore, it should be noted that the remote I/O of PDO2 can obtain the slave device's current DI and AI
status, and can also control the slave device's DO and AO status. Nevertheless, after introducing a fully
automatic mapping special D, the C2000 CANopen master also provides additional information
refreshes. For instance, while in speed mode, acceleration/deceleration settings may have been refreshed.
The special D therefore also stores some seldom-used real-time information, and these commands can be
refreshed using the CANFLS command. The following is the C2000's current CANopen master data
conversion area, which has a range of D2001+100*n - D2033+100*n, as shown below:
1. The range of n is 0-7
2. Indicates PDOTX,
CANFLS command
Special D
PDO3
Descriptio Special D
n
Controller D2008+100*
Word n
Target D2020+100*
n
D2021+100*
n
Control D2010+100*
method n
PDO4
Torque
15 14 ~ 12 11
0 0 0
PDO3
Description Special D
Controller D2009+100
Word *n
Actual D2022+100
position *n
D2023+100
*n
Actual mode D2011+100
*n
PDO4
Torque
15 14 ~ 12 11
0 0 0
Indicates PDORX; unmarked special D can be refreshed using the
Description of Function
Chapter 16 PLC Function Applications
TX PDO
PDO2
Descriptio Special D
n
Slave D2027+10
device DO 0*n
Slave D2031+10
device 0*n
AO1
Slave D2032+10
device 0*n
AO2
Slave device D2033+100*
AO3 n
PDO3 PDO2
Position Remote I/O
10 ~ 8 7
0 0
TX PDO
PDO2
Description Special D
Slave device D2026+100
DI *n
Slave device D2028+100
AI1 *n
Slave device D2029+100
AI2 *n
Slave device
D2030+100*n
AI3
PDO3 PDO2
Position Remote I/O
10 ~ 8 7
0 0
Default
:
16-127
C2000 Series
PDO1
Descriptio Special D
n
Controller D2008+100*
Word n
Target D2012+100*
speed n
PDO1
Speed
6 ~ 4 3 2 ~ 0
0 1 2
PDO1
Description
Controller D2009+100
Word *n
Actual D2013+100
frequency *n
PDO1
Speed
6 ~ 4 3 2 ~ 0
0 1 2
PDO Default:
1 2 3 4
Special D
R/W