Delta C2000 Series User Manual page 897

Chapter 16 PLC Function ApplicationsC2000
If slave devices have a slow start-up, the master can delay for a short time before performing
slave station configuration; this time delay can be set via D1092.
Special D
D1092
With regard to slave device initialization, a delay time can be set to judge whether failure has
occurred. If the communications speed is relatively slow, the delay time can be adjusted to judge
whether initialization has been completed, which will ensure that there is time to perform slave
device initialization.
Special D
D1099
After communication is successful, the system must detect whether there is a break in
communications with the slave station. D1093 is used to set detection time, and D1094 sets the
number of consecutive errors that will trigger a break error.
Special D
D1093
D1094
The packet type transmitted by PDO is set before establishing normal communications and
generally does not require adjustment.
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)
Description
Controller
D2008+100*n
word
Target
D2017+100*n
torque
Control
D2010+100*n
method
Description of Function
Delay before start of initialization
Description of Function
Initialization completion delay time
Setting range: 1 to 60000 sec.
Description of Function
Break time detection
Break number detection
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)
Special D Description
Controller
D2008+100*n Slave device DO D2027+100*n Controller word D2008+100*n
word
Target D2020+100*n
position D2021+100*n
Control
D2010+100*n
method
TXPDO
PDO2 (Remote I/O)
Special D Description
Slave device
AO1
Slave device
AO2
Slave device
AO3
16-136
Default R/W
0 RW
Default R/W
15 sec. RW
Default R/W
1000ms RW
3 RW
Default R/W
1 RW
1 RW
PDO1 (Speed)
Special D Description
D2031+100*n Target speed
D2032+100*n
D2033+100*n
Special D
D2012+100*n