Delta CT2000 Series User Manual page 580

Homing control/position control:
Register table in homing mode/position mode:
Control special M
Special
M
M1040 Servo On
Move to new position, must use control mode as position mode (D1060 = 1) and
M1048
M1040 = 1
M1050 Absolute position/relative position (0: relative/1: absolute)
Search for origin (home start), must use control mode as position mode (D1060
M1055
= 3) and M1040 = 1
Status special M
Special
M
M1064 Target reached
M1070 Return home complete
M1071 Homing error
Control special D
Special
D
D1060 Operating mode setting (position mode is 1, homing mode is 3)
Status special D
Special
D
D1050 Actual operating mode (speed mode is 0)
D1051 Actual position (Low word)
D1052 Actual position (High word)
※ D1051 and D1052 must be combined to give the actual location, and it has a serial number.
Position mode control commands:
DPOS(P)
S1
Target (with numbers)
Example of homing mode/position mode control:
First complete setting of electromechanical parameters connected with position before
implementing homing control or position control.
1. Set 00-40 to select the homing method and the corresponding limit sensors and origin.
(Setting the MI function gives a reverse rotation limit of 44, a forward rotation limit of 45, and
an origin proximity of 46. Because the CT2000 current only supports a Z-phase origin, the
encoder card must a provide Z-phase.)
2. Set D1060 = 3 to change the converter to the homing mode.
Chapter 16 PLC Function CT2000 Series
Description of Function
Description of Function
Description of Function
Description of Function
16-139
Attributes
RW
RW
RW
RW
Attributes
RO
RO
RO
Attributes
RW
Attributes
RO
RO
RO