Delta C2000 Series User Manual page 626

16-9 Explanation of various PLC mode controls (speed, torque,
homing, and position)
The torque mode and position mode are based on FOC vector control and speed mode also
supports FOC vector control. Control therefore cannot be performed successfully unless you study
motor parameters ahead of time for the torque mode and position mode, and the speed mode based
on FOC.
In addition, motors are classified as two types: IM and PM. You therefore need to study IM motor
parameters. For PM motors, after completing motor parameter study, you must also complete study
of motor origin angle of deviation. Please refer to parameters 12-58 Pr. 05-00 detailed explanation.
If a PM motor belongs to Delta's ECMA series, motor parameters can be directly input from
data in the servo motor catalog, and parameter study will not be needed.
Control methods and settings are explained as follows:
Speed control:
Register table for speed mode:
Control special M
Special
M
M1025 Driver frequency = set frequency (ON)/driver frequency =0 (OFF)
M1026 Driver operating direction FWD(OFF)/REV(ON)
M1040 Hardware power (Servo On)
M1042 Quick stop
M1044 Pause (Halt)
M1052 Lock frequency (lock, frequency locked at the current operating frequency)
Status special M
Special
M
M1015 Frequency attained (when used together with M1025)
M1056 Servo On Ready
M1058 On Quick Stopping
Control special D
Special
D
D1060 Mode setting (speed mode is 0)
Status special D
Special
D
D1037 Converter output frequency (0.00~600.00)
D1050 Actual operating mode (speed mode is 0)
Speed mode control commands:
FREQ(P)
Description of Function
Description of Function
Description of Function
Description of Function
S1 S2 S3
16-134
Attributes
RW
RW
RW
RW
RW
RW
Attributes
RO
RO
RO
Attributes
RW
Attributes
RO
RO