Delta VFD550C43A-00 - Page 1102

Chapter 16 PLC Function ApplicationsC2000 Plus
16-39
Basic definitions
Special D Description of Function Default: PDO Mapping
PDO Default:
R/W
1 2 3 4
D2006+100*n
Communications break handling method of
slave station number n
0 6007H–0010H RW
D2007+100*n Error code of slave station number n error 0 603FH–0010H R
D2008+100*n Control word of slave station number n 0 6040H–0010H ● ● ● RW
D2009+100*n Status word of slave station number n 0 6041H–0010H
▲ ▲ ▲
R
D2010+100*n Control mode of slave station number n 2 6060H–0008H RW
D2011+100*n Actual mode of slave station number n 2 6061H–0008H R
Velocity Control
Slave station number n=0–7
Special D Description of Function Default: PDO Mapping
PDO Default:
R/W
1 2 3 4
D2001+100*n
Torque restriction on slave station number
n
0 6072H–0010H RW
D2012+100*n Target speed of slave station number n 0 6042H–0010H ● RW
D2013+100*n Actual speed of slave station number n 0 6043H–0010H
▲
R
D2014+100*n Error speed of slave station number n 0 6044H–0010H R
D2015+100*n Acceleration time of slave station number n 1000 604FH–0020H R
D2016+100*n Deceleration time of slave station number n 1000 6050H–0020H RW
Torque control
Slave station number n=0–7
Special D Description of Function Default: PDO Mapping
PDO Default:
R/W
1 2 3 4
D2017+100*n Target torque of slave station number n 0 6071H–0010H ● RW
D2018+100*n Actual torque of slave station number n 0 6077H–0010H
▲
R
D2019+100*n Actual current of slave station number n 0 6078H–0010H R
Position control
Slave station number n=0–7
Special D Description of Function Default: PDO Mapping
PDO Default:
R/W
1 2 3 4
D2020+100*n Target of slave station number n (L) 0
607AH–0020H ●
RW
D2021+100*n Target of slave station number n (H) 0 RW
D2022+100*n
Actual position of slave station number n
(L)
0
6064H–0020H
▲
R
D2023+100*n
Actual position of slave station number n
(H)
0 R
D2024+100*n Speed chart of slave station number n (L) 10000
6081H–0020H
RW
D2025+100*n Speed chart of slave station number n (H) 0 RW
20XXH correspondences: MI MO AI AO
Slave station number n=0–7
Special D Description of Function Default: PDO Mapping
PDO Default:
R/W
1 2 3 4
D2026+100*n MI status of slave station number n 0 2026H–0110H
▲
RW
D2027+100*n MO setting of slave station number n 0 2026H–4110H ● RW
D2028+100*n AI1 status of slave station number n 0 2026H–6110H
▲
RW
D2029+100*n AI2 status of slave station number n 0 2026H–6210H
▲
RW
D2030+100*n AI3 status of slave station number n 0 2026H–6310H
▲
RW
D2031+100*n AO1 status of slave station number n 0 2026H–A110H ● RW
D2032+100*n AO2 status of slave station number n 0 2026H–A210H ● RW
D2033+100*n AO3 status of slave station number n 0 2026H–A310H ● RW