Delta C2000 Series User Manual

Chapter 16 PLC Function ApplicationsC2000
16-145
16-9 Explanation of various PLC mode controls (speed, torque,
homing, and position)
The torque mode and position mode are based on FOC vector control and speed mode also
supports FOC vector control. Control therefore cannot be performed successfully unless finishing
motor parameter auto tuning ahead of time for the torque mode and position mode, and the speed
mode based on FOC.
In addition, motors are classified as two types: IM and PM. For IM motors, the auto tuning of the
motor parameter will be enough. For PM motors, after completing motor parameter auto tuning, the
auto tuning of motor origin angle of deviation should be completed as well. Please refer to Chapter
12-1 Pr. 05-00 for detailed explanation.
※ If a PM motor belongs to Delta's ECMA series, motor parameters can be directly input from
data in the servo motor catalog, and parameter study will not be needed.
Control methods and settings are explained as follows:
Speed control:
Register table for speed mode:
Control special M
Special
M
Description of Function Attributes
M1025 Drive frequency = set frequency (ON) / drive frequency =0 (OFF)
RW
M1026 Drive operating direction FWD(OFF) / REV(ON)
RW
M1040 Hardware power (Servo On)
RW
M1042 Quick stop
RW
M1044 Pause (Halt)
RW
M1052 Lock frequency (lock, frequency locked at the current operating frequency)
RW
Status special M
Special
M
Description of Function Attributes
M1015 Frequency attained (when used together with M1025)
RO
M1056 Servo On Ready
RO
M1058 On Quick Stopping
RO
Control special D
Special
D
Description of Function Attributes
D1060 Mode setting (speed mode is 0)
RW
Status special D
Special
D
Description of Function Attributes
D1037
Converter output frequency (0.00–600.00)
RO
D1050 Actual operating mode (speed mode is 0)
RO

Delta C2000 Series Specifications

General

Brand	Delta
Model	C2000 Series
Category	DC Drives
Language	English