Delta C2000 Series User Manual page 629

Chapter 16 PLC Functions Applications
Homing control/position control:
Register table in homing mode/position mode:
Control special M
Special M
M1040 Servo On
Move to new position, must use control mode as position mode (D1060 = 1)
M1048
and M1040 = 1
M1050 Absolute position/relative position (0: relative/1: absolute)
Search for origin (home start), must use control mode as position mode
M1055
(D1060 = 3) and M1040 = 1
Status special M
Special M
M1064 Target reached
M1070 Return home complete
M1071 Homing error
Control special D
Special D
D1060 Operating mode setting (position mode is 1, homing mode is 3)
Status special D
Special D
D1050 Actual operating mode (speed mode is 0)
D1051 Actual position (Low word)
D1052 Actual position (High word)
D1051 and D1052 must be combined to give the actual location, and it has a serial number.
Position mode control commands:
DPOS(P)
Example of homing mode/position mode control:
First complete setting of electromechanical parameters connected with position before
implementing homing control or position control.
1. Set 00-40 to select the homing method and the corresponding limit sensors and origin.
(Setting the MI function gives a reverse rotation limit of 44, a forward rotation limit of 45, and
an origin proximity of 46. Because the C2000 current only supports a Z-phase origin, the
encoder card must a provide Z-phase.)
2. Set D1060 = 3 to change the converter to the homing mode.
3. Set M1040 = 1
In the VF/SVC/VFPG mode, will enter the STANDBY mode (01-34 can be used to access the
STANDBY mode's action options).
In the FOC+PG mode, zero speed holding will occur
C2000 Series
S1
Target (with numbers)
Description of Function
Description of Function
Description of Function
Description of Function
16-138
Attributes
RW
RW
RW
RW
Attributes
RO
RO
RO
Attributes
RW
Attributes
RO
RO
RO