Delta C2000 Series User Manual page 617

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:
PDO4 (Torque)
Descriptio Special D
n
Controller D2008+1
Word 00*n
Target D2017+1
torque 00*n
Control D2010+1
method 00*n
PDO4 (Torque)
Description Special D
D2009+100*
Mode word
n
Actual D2018+100*
torque n
Actual D2011+100*
mode n
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
bit 15
Definition En
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:
Description of Function
Corresponding real-time transmission type
(PDO)
Setting range: 1~240
Corresponding real-time receiving type (PDO)
Setting range: 1~240
PDO3 (Position)
Descriptio Special D
n
Controller D2008+1
Word 00*n
Target D2020+1
00*n
D2021+1
00*n
Control D2010+1
method 00*n
PDO3 (Position)
Description Special D
D2009+100*
Mode word
n
D2022+100*
Actual n
position D2023+100*
n
D2011+100*
Actual mode
n
PDO4 PDO3
Torque Position
14 ~ 12 11 10 ~ 8
Length: En Length:
16-125
Default:
1
1
TX PDO
PDO2 (Remote I/O)
Description Special D
Slave D2027+1
device DO 00*n
Slave D2031+1
device AO1 00*n
Slave D2032+1
device AO2 00*n
Slave device D2033+100
AO3 *n
RXPDO
PDO2 (Remote I/O)
Description Special D
D2026+100*
Slave device DI
n
Slave device D2028+100*
AI1 n
Slave device D2029+100*
AI2 n
Slave device D2030+100*
AI3 n
PDO2
Remote I/O
7 6 ~ 4 3
En Length: En
PLC Function Applications
R/W
RW
RW
PDO1 (Speed)
Descriptio Special D
n
Controller D2008+1
Word 00*n
Target D2012+1
speed 00*n
PDO1 (Speed)
Description Special D
D2009+100*
Mode word
n
Actual D2013+100*
frequency n
PDO1
Speed
2 ~ 0
Length: