Delta VFD300C43S-HS User Manual page 779

PDO4 (Torque)
Description
Mode word D2009+100*n Mode word
Actual torque D2018+100*n Actual position
Actual mode D2011+100*n Actual mode
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
Definition
En: indicates whether PDO is used
Length: indicates mapping of several variables
In a simple example, if we want to control a C2000-HS slave device and make it to operate in
speed mode, we only have to make the following settings:
D2034+100*n =000Ah
Length:
PDO4
Description Special D
1 Controller D2008+100*n
Word
2 Target D2017+100*n
torque
3 Control D2010+100*n
method
4
Definition
bit
Definition
D2067+100*n =000Ah
Length:
PDO4
Description Special D
1 Controller D2009+100*n
Word
2 Actual D2018+100*n
torque
3 Actual D2011+100*n
mode
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
PDO3 (Position)
Special D Description
D2009+100*n Slave device DI D2026+100*n Mode word
D2022+100*n
D2023+100*n
D2011+100*n Slave device AI2 D2029+100*n
PDO4
Torque
bit 15 14–12
En Length
PDO3
Description Special D
Controller D2008+100*n
Word
Target D2020+100*n
D2021+100*n
Control D2010+100*n
method
PDO4
Torque
15 14–12
0 0
PDO3
Description Special D
Controller D2009+100*n
Word
Actual D2022+100*n
position D2023+100*n
Actual D2011+100*n
mode
PDO4
Torque
15 14–12
0 0
Chapter 16 PLC Function ApplicationsC2000-HS
RXPDO
PDO2 (Remote I/O)
Special D Description
Slave device AI1 D2028+100*n Actual frequency D2013+100*n
Slave device AI3 D2030+100*n
PDO3
Position Remote I/O
11 10–8 7
En Length En
TX PDO
PDO2
Description
Slave
device DO
Slave
device
AO1
Slave
device
AO2
Slave device
AO3
PDO3
Position
11 10–8 7
0 0 0
TX PDO
PDO2
Description
Slave
device DI
Slave
device AI1
Slave
device AI2
Slave device
AI3
PDO3
Position
11 10–8 7
0 0 0
16-137
PDO1 (Speed)
Special D Description
PDO2 PDO1
Speed
6–4 3 2–0
Length En Length
PDO1
Special D Description
D2027+100*n Controller
Word
D2031+100*n Target
speed
D2032+100*n
D2033+100*n
PDO2 PDO1
Remote I/O Speed
6–4 3
0 1
PDO1
Special D Description
D2026+100*n Controller
Word
D2028+100*n Actual
frequency
D2029+100*n
D2030+100*n
PDO2 PDO1
Remote I/O Speed
6–4 3
0 1
Special D
D2009+100*n
Special D
D2008+100*n
D2012+100*n
2–0
2
Special D
D2009+100*n
D2013+100*n
2–0
2