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.
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
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
0 0
!"#$ % !&#
Description of Function
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
Position Remote I/O
11 10 ~ 8 7
0 0 0
TX PDO
PDO2
Description
Slave device
DI
Slave device
AI1
Slave device
AI2
Slave device
D2030+100*n
AI3
PDO3
Position Remote I/O
11 10 ~ 8 7
0 0 0
'
Default
16-126
PDO1
Descriptio
n
Controller
Word
Target
speed
PDO2 PDO1
Speed
6 ~ 4 3
0 1
PDO1
Special D Description
D2026+100 Controller
*n Word
D2028+100 Actual
*n frequency
D2029+100
*n
PDO2 PDO1
Speed
6 ~ 4 3
0 1
PDO Default:
: 1 2 3
Special D
D2008+100*
n
D2012+100*
n
2 ~ 0
2
Special D
D2009+100
*n
D2013+100
*n
2 ~ 0
2
/
R/W
4