Chapter 16 PLC Function ApplicationsC2000
16-138
frequency will also be automatically sent back to the master station (D2009+n*100 and
D2013+n*100). This also illustrates how the master can handle these tasks through read/write
operations in the special D area.
Furthermore, it should be noted that the remote I/O of PDO2 can obtain the slave device's current
DI and AI status, and can also control the slave device's DO and AO status. Nevertheless, after
introducing a fully automatic mapping special D, the C2000 CANopen master also provides
additional information refreshes. For instance, while in speed mode, acceleration/deceleration
settings may have been refreshed. The special D therefore also stores some seldom-used
real-time information, and these commands can be refreshed using the CANFLS command. The
following is the C2000's current CANopen master data conversion area, which has a range of
D2001+100*n–D2033+100*n, as shown below:
1. The range of n is 0–7
2. ●Indicates PDOTX, ▲Indicates PDORX; unmarked special D can be refreshed using the
CANFLS command
Special D Description of Function Default
PDO Default
R/W
1 2 3 4
D2000+100*n
Station number n of slave station
Setting range: 0–127
0: No CANopen function
0 RW
D2002+100*n
Manufacturer code of slave station
number n (L)
0 R
D2003+100*n
Manufacturer code of slave station
number n (H)
0 R
D2004+100*n
Manufacturer's product code of slave
station number n (L)
0 R
D2005+100*n
Manufacturer's product code of slave
station number n (H)
0 R
Basic definitions
Special D Description of Function Default
PDO Default
R/W
1 2 3 4
D2006+100*n
Communications break handling
method of slave station number n
0 RW
D2007+100*n
Error code of slave station number n
error
0 R
D2008+100*n
Control word of slave station number
n
0 ● ● ● RW
D2009+100*n
Status word of slave station number
n
0 ▲ ▲ ▲ R
D2010+100*n
Control mode of slave station
number n
2 RW
D2011+100*n
Actual mode of slave station number
n
2 R
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