Delta MH300 Series - Page 988

Chapter 16 PLC Function ApplicationsMH300
16-125
D2067+100*n =000Ah
：
Length:
TXPDO
PDO2 (Remote I/O) PDO1 (Speed)
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 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 MH300 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 MH300'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 0–3
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
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