Delta CFP2000 Series, User Manual

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Chapter 16 PLC Function Applications
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CFP2000
16-136
RXPDO
PDO2 (Remote I/O) PDO1 (Speed)
Description Special D Description Special D
Slave device DI D2026+100*n Mode word D2009+100*n
Slave device AI1 D2028+100*n Actual frequency D2013+100*n
Slave device AI2 D2029+100*n
Slave device AI3 D2030+100*n
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:
PDO2 PDO1
Default definition Remote I/O Speed
bit 7 6–4 3 2–0
Definition En Length: En Length:
En: indicates whether PDO is used
Length: indicates mapping of several variables
In a simple example, if we wish to control a CFP2000 slave device and cause it to operate in
speed mode, we only have to make the following settings:
D2034+100*n =000Ah
Length
TX PDO
PDO2 PDO1
Description Special D Description Special D
1 Slave device DO D2027+100*n Controller word D2008+100*n
2 Slave device AO1 D2031+100*n Target speed D2012+100*n
3 Slave device AO2 D2032+100*n
4 Slave device AO3 D2033+100*n
PDO2 PDO1
Definition Remote I/O Speed
bit 7 6–4 3 2–0
Definition 0 0 1 2
D2067+100*n =000Ah
Length
TX PDO
PDO2 PDO1
Description Special D Description Special D
1 Slave device DI D2026+100*n Controller word D2009+100*n
2 Slave device AI1 D2028+100*n Actual frequency D2013+100*n
3 Slave device AI2 D2029+100*n
4 Slave device AI3 D2030+100*n
PDO2 PDO1
Definition Remote I/O Speed
bit 7 6–4 3 2–0
Definition 0 0 1 2
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