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Chapter 15 CANopen Overview C2000 Series
15-21
15.4 CANopen Supporting Index
C2000 Index:
Parameter index corresponds to each other as following:
Index sub-Index
2000H + Group member+1
For example:
Pr.10.15 (Encoder Slip Error Treatment)
Group member
10(0
A
H) - 15(0FH)
Index = 2000H + 0AH = 200A
Sub Index = 0FH + 1H = 10H
C2000 Control Index:
Delta Standard Mode (Old definition)
Index Sub Definition
Factory
Setting
R/W Size Note
0 Number 3 R U8
00B:disable
01B:stop
10B:disable
Bit 1~0
11B
: JOG Enable
Bit3~2 Reserved
00B:disable
01B: Direction forward
10B: Reverse
Bit5~4
11B
: Switch Direction
00B: 1
st
step Accel. /Decel.
01B: 2
nd
step Accel. /Decel.
10B: 3
rd
step Accel. /Decel.
Bit7~6
11B
: 4
th
step Accel. /Decel.
0000B: Master speed
0001B: 1
st
step speed
0010B: 2
nd
step speed
0011B: 3
rd
step speed
0100B: 4
th
step speed
0101B: 5
th
step speed
0110B: 6
th
step speed
0111B: 7
th
step speed
1000B: 8
th
step speed
1001B: 9
th
step speed
1010B: 10
th
step speed
1011B: 11
th
step speed
1100B: 12
th
step speed
1101B: 13
th
step speed
1110B: 14
th
step speed
Bit11~8
1111B: 15
th
step speed
Bit12 1: Enable the function of
Bit6-11
Bit14~13 00B: no function
2020H
1 Control word 0 RW U16
01B: Operation command by
the digital keypad
Содержание
1610- Ch2000 series user manual
- Delta heavy load application field oriented control drive
- Cover page
- Www delta com tw ia
- Please read prior to installation for safety
- Table of contents
- Publication history
- Issue date may 2013 publication history
- Receiving
- Chapter 1 introduction
- 2 nameplate information
- 1 receiving and inspection
- 4 serial number 1 4 serial number
- 3 model name
- Interference radio frequency interference on the power line
- Frame a c
- 5 rfi jumper
- 10kg cm 6 8 lb in
- Screw torque
- Rfi jumper the ac motor drive may emit the electrical noise the rfi jumper is used to suppress the
- Rfi jumper is removed
- Loosen the screws and remove the rfi jumper fasten the screws back to the original position after
- Frame d0 h
- Caution
- Vfd007ch4ea 21 vfd015ch4ea 21 vfd022ch4ea 21 vfd037ch4ea 21 vfd055ch4ea 21
- Vfd007ch43a 21 vfd015ch43a 21 vfd022ch43a 21 vfd037ch43a 21 vfd055ch43a 21
- Vfd007ch23a 21 vfd015ch23a 21 vfd022ch23a 21 vfd037ch23a 21
- Frame a
- 6 dimensions
- See detail b
- See detail a
- Frame b
- Detail b mounting hole
- Detail a mounting hole
- Vfd075ch4ea 21 vfd110ch4ea 21 vfd150ch4ea 21
- Vfd075ch43a 21 vfd110ch43a 21 vfd150ch43a 21
- Vfd055ch23a 21 vfd075ch23a 21 vfd110ch23a 21
- Vfd185ch43a 21 vfd220ch43a 21 vfd300ch43a 21
- Vfd185ch4ea 21 vfd220ch4ea 21 vfd300ch4ea 21
- Vfd150ch23a 21 vfd185ch23a 21
- See detail b
- See detail a
- Frame c
- Detail b mounting hole
- Detail a mounting hole
- See detail b
- See detail a
- Detail a mounting hole detail b mounting hole
- D0 vfd370ch43s 21
- Frame d
- Vfd370ch43a 00 vfd450ch43a 00 vfd550ch43a 00 vfd750ch43a 00
- Vfd220ch23a 00 vfd300ch23a 00 vfd370ch23a 00
- Vfd370ch43a 21 vfd450ch43a 21 vfd550ch43a 21 vfd750ch43a 21
- Vfd220ch23a 21 vfd300ch23a 21 vfd370ch23a 21
- Unit mm inch
- Frame d
- Chapter 1 introduction
- Frame e
- E1 vfd450ch23a 00 vfd550ch23a 00 vfd900ch43a 00 vfd1100ch43a 00
- Frame e
- E2 vfd450ch23a 21 vfd550ch23a 21 vfd900ch43a 21 vfd1100ch43a 21
- Frame f
- F1 vfd750ch23a 00 vfd1320ch43a 00
- Frame f
- F2 vfd750ch23a 21 vfd1320ch43a 21
- Frame g
- G1 vfd1600ch43a 00 vfd1850ch43a 00 vfd2200ch43a 00
- G2 vfd1600ch43a 21 vfd1850ch43a 21 vfd2200ch43a 21
- Frame g
- H1 vfd2800ch43a 00
- Frame w h d w1 w2 w3 w4 w5 w6 h1 h2 h3 h4
- Frame h5 d1 d2 d3 d4 d5 d6 s1 s2 s3 ψ1 ψ2 ψ3
- Frame h
- 45 1 7
- 0 1 26 1 4 25 0 8
- Frame h5 d1 d2 d3 d4 d5 d6 s1 s2 s3
- Frame h
- 8 3 68 2 8 137 5 9 13 0 1 26 1 4 25 0 8
- 51 2 1
- 29 2 800 31
- 15 1 630 24
- 1 0 65 2 6
- H2 vfd2800ch43c 00
- Frame w h d w1 w2 w3 w4 w5 w6 h1 h2 h3 h4
- Kpc cc01
- Digital keypad
- Prevent fiber particles scraps of paper shredded wood saw dust metal particles etc from adhering to the heat sink
- Installation
- Install the ac motor drive in pollution degree 2 environments only normally only nonconductive pollution occurs and temporary conductivity caused by condensation is expected the appearances shown in the following figures are for reference only
- Install the ac motor drive in a metal cabinet when installing one drive below another one use a metal separation between the ac motor drives to prevent mutual heating and to prevent the risk of fire accident
- Chapter 2 installation
- 1 minimum mounting clearance and installation
- 2 minimum mounting clearance
- Derating curve diagram pr 0 16 0
- Chapter 2 installation
- 750ch23
- 055ch43 075 300ch43 370 750ch43 900 1100ch43 1320 2800ch43
- 037ch23
- Unpacking
- Chapter 3 unpacking
- Wood plate2
- Wood plate1
- 2 3 4 5 6 7 8 9
- Figure 2
- Figure 1 top cover use m12 screws
- Torque 340 420kg cm 295 364 lb in
- Lift the drive by hooking the lifting hole it is now ready for installation
- The lifting hook
- Wiring
- Danger
- Chapter 4 wiring
- Chapter 4 wiring
- Main circuit terminals
- Chapter 5 main circuit terminals
- Terminals for connecting dc reactor external brake resistor external brake resistor and dc circuit
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 b1 b2 1 2
- Frame a
- 1 main circuit terminals
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 b1 b2 1 2
- Frame b
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 b1 b2 1 2
- Frame c
- Vfd370ch43s 21
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 1 dc dc
- Frame d0
- R l1 s l2 t l3 u t1 v t2 w t3 1 dc dc
- Main circuit terminals
- Frame d
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 1 dc dc
- Frame e
- Main circuit terminals r l1 s l2 t l3 u t1 v t2 w t3 1 dc dc
- Frame f
- Main circuit terminals
- Frame g
- V t2 w t3 1 dc dc
- R 11 r12 s 21 s 22 t 31 t 32
- Main circuit terminals
- Frame h
- Figure 2
- Figure 1
- Control terminals
- Chapter 6 control terminals
- 1 specifications of control terminal
- 2 analog input terminals avi aci aui and acm
- Board upward as 2 in the figure
- 3 remove the terminal block
- Remove the control board by pulling it out for a distance 6 8 cm as 1 in the figure then lift the control
- Loosen the screws by screwdriver as shown in figure below
- The optional accessories listed in this chapter are available upon request installing additional accessories to your drive would substantially improve the drive s performance please select an applicable accessory according to your need or contact the local distributor for suggestion
- Optional acessories
- Chapter 7 optional accessories
- 1 all brake resistors and brake units used in ac motor drives
- Parallel 2 series
- Br1k2w015 10 5 parallel
- Max total
- Br1k0w5p1 4 4 parallel
- Max brake torque
- Br1k0w016 4 2 parallel 2 series
- Br1k0w016 2 2 series
- Each brake unit
- Applicabl
- Current a
- 3 br1k0w075 1 1000w75 ω 10 54 14 10
- Chapter 7 optional accessories
- 3 2 br1k0w075 1 1000w75 ω 10 84 9 6
- Braking torque kg m
- 2 1 br400w150 1 400w150 ω 5 108 7 5
- Braking torque 10 ed
- 1 1 br200w360 1 200w360 ω 2 126 6 4
- Braking resistor series for
- Braking current
- 0 0 br080w750 1 80w750 ω 1 190 4 3
- Braking
- Value spec for each ac motor drive
- Brake unit hp kw
- Series
- Br1k5w013 4 2 parallel 2 series
- Resistor value ω
- Br1k5w013 2 2 series
- Resistor
- Br1k5w012 12 6 parallel
- Peak power kw
- Br1k2w015 4 2 parallel 2 series
- When ac drive is equipped with a dc reactor please read user manual to know th wiring method of input circuit of brake unit p do not connect input circuit n to the neutral point of the power system
- Thermal relay or temperature switch trip contact
- Temperature switch
- Parallel serie
- O l brake resistor
- Master m1 m2
- Chapter 7 optional accessories
- Phase 230v 3 phase 460v
- Non fuse breaker a
- Comply with ul standard per ul 508 paragraph 45 part a the rated current of the breaker shall be 2 4 times of the maximum rated input current of ac motor drive
- 2 non fuse circuit breaker
- Recommended non fuse breaker
- Recommended
- 3 fuse specification chart
- When the ac motor drive is connected directly to a large capacity power transformer 600kva or above or when a phase lead capacitor is switched excess peak currents may occur in the power input circuit due to the load changes and the converter section may be damaged to avoid this it is recommend using a serial connected ac input reactor 6 at the ac motor drive mains input side to reduce the current and improve the input power efficiency
- V 50 60hz 3 phase
- 4 line load ac reactors chokes
- Applications of line load ac reactors chokes
- 5 zero phase reactors chokes
- V dc choke
- 6 dc reactors chokes
- Reference website
- Emi filter
- Applicable
- 7 emi filter
- Emi filter installation
- Choose suitable motor cable and precautions
- General precaution
- Status indicator
- Led display
- Function
- 8 digital keypad
- 8 1 kpc ce01
- 8 3 rj45 extension lead for digital keypad
- 8 2 dimension
- Wall mounting embedded mounting
- Panel cutout dimension
- 9 panel mounting mkc kppk
- Chapter 7 optional accessories
- Applicable models
- Applicable model
- Appearance
- 10 conduit box kit
- Model number mkc fn1cb
- Model number mkc en1cb
- Model number mkc dn1cb
- Model number mkc d0n1cb
- Model number mkc gn1cb
- Chapter 7 optional accessories
- Applicable models
- Conduit box installation
- Chapter 7 optional accessories
- 11 fan kit
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Fan removal
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Chapter 7 optional accessories
- Vfd055ch43a 4ea 2
- Vfd015ch23a 21 vfd022ch23a 21 vfd022ch43a 4ea 21
- Vfd007ch23a 21 vfd007ch43a 4ea 21 vfd015ch43a 4ea 21 vfd037ch23a 21 vfd037ch43a 4ea 21
- Mkc afm1
- Mkc afm
- Cutout dimension unit mm inch
- Chapter 7 optional accessories
- Applicable models frame a f frame a
- Applicable model
- 12 flange mounting kit
- Mkc afm1 installation
- Mkc afm installation
- Frame b
- Cutout dimension unit mm inch
- Chapter 7 optional accessories
- Mkc bfm installation
- Frame c
- Mkc cfm installation
- Frame d
- Frame d0 d e
- Frame e
- Frame f
- Cutout dimension unit mm inch
- Applicable model vfd750ch23a 00 21 vfd1320ch43a 00 21
- Frame f
- Application dimension
- 13 usb rs 485 communication interface ifd6530
- Warning
- The content of this instruction sheet and the driver file may be revised without prior notice please consult our distributors or download the most updated instruction driver version at http www delta com tw product em control cm control_cm_main asp
- Specifications
- Please thoroughly read this instruction sheet before installation and putting it into use
- Introduction
- Preparations before driver installation
- Driver installation
- Led display
- Option cards
- Chapter 8 option cards
- 1 removed key cover
- 2 screws speciation for option card terminals
- 5 emc r6aa
- 4 emc d611a
- 3 emc d42a
- 6 emc bps01
- Terminals
- 7 emc pg01l
- Terminals descriptions
- Terminal descriptions
- Set by pr 0 00 10 02
- Pg1 wiring diagram
- 8 emc pg01o
- Emc pg01o
- 9 emc pg01u
- Wiring diagram
- Emc pg01u
- Ao ao bo bo zo zo
- A2 a2 b2 b2
- 1 2 b1 b2
- 10 emc pg01r
- Wiring diagram
- 11 cmc mod01
- When vfd ch2000 is link to ethernet please set up the communication parameters base on the table below ethernet master will be able to read write the frequency word and control word of vfd ch2000 after communication parameters setup
- Switch off the power supply of vfd ch2000 2 remove the two screws shown in figure 6 3 twist opens the card clip and inserts the slot type screwdriver to the hollow to prize the pcb off the card clip shown in figure 7 4 twist opens the other card clip to remove the pcb shown in figure 8
- Disconnecting cmc mod01 from vfd ch2000
- Communication parameters for vfd ch2000 connected to ethernet
- Troubleshooting
- Led indicators
- Led indicator troubleshooting
- 12 cmc pd01
- There are 2 led indicators on cmc pd01 power led displays the status of the working power net led displays the connection status of the communication
- Profibus dp connector
- Power led
- Net led
- Led indicator troubleshooting
- Installation
- Environment
- Weight 28g
- 13 cmc dn01
- Ns led
- Ms led
- Led status indication how to correct it
- 14 cmc eip01
- Rj 45 pin definition
- Pin signal definition pin signal definition
- Open the cover of ac motor drive
- Installation
- Figure 2
- Environment
- Connecting cmc eip01 to vfd ch2000
- Connecting cmc eip01 to network
- Connect cat 5e network cable to rj 45 port on
- Cmc eip01 see figure 2
- Turn off the power of ac motor drive
- Switch off the power of ac motor drive 2 open the front cover of ac motor drive 3 place the insulation spacer into the positioning pin at slot 1 shown in figure 3 and aim the two holes on the pcb at the positioning pin press the pin to clip the holes with the pcb see figure 4 4 screw up at torque 6 8 kg cm 5 1 6 4 in lbs after the pcb is clipped with the holes see figure 5
- When vfd ch2000 is connected to ethernet network please set up the communication parameters for it according to the table below the ethernet master is only able to read write the frequency word and control word of vfd ch2000 after the communication parameters are set
- Parameter
- Figure 5
- Figure 3 figure 4
- Dec function set value dec explanation
- Communication parameters for vfd ch2000 connected to ethernet
- Switch off the power supply of vfd ch2000 2 remove the two screws see figure 6 3 twist opens the card clip and inserts the slot type screwdriver to the hollow to prize the pcb off the card clip see figure 7 4 twist opens the other card clip to remove the pcb see figure 8
- Led status indication how to correct it
- Led indicators
- Led indicator troubleshooting
- Figure 8 figure 8
- Figure 6 figure 7
- Disconnecting cmc eip01 from vfd ch2000
- Abnormality cause how to correct it
- Troubleshooting
- There are 2 led indicators on cmc eip01 the power led displays the status of power supply and the link led displays the connection status of the communication
- Abnormality cause how to correct it
- 15 emc cop01
- V series
- Specification
- Rated output current is 150 for 60 seconds 200 for 3 seconds
- Chapter 9 specifications
- Chapter 9 specification
- V series
- Rated output current is 150 for 60 seconds 200 for 3 seconds
- Frame size d e f g h
- Frame size a b c
- Chapter 9 specifications
- General specifications
- Environment for operation storage and transportation
- Specification for operation temperature and protection level
- Model frame top cover conduit box protection level operation temperature
- Output current rating a
- Derating of ambient temperature and altitude
- Derating for ambient temperature
- Chapter 9 specifications
- Altitude m
- 500 1000 1500 2000 2500 3000 40
- Ul type i ip20
- Ul open type ip20
- Protection level operating environment
- High altitude
- 4 fault code description of digital keypad kpc cc01
- 3 tpeditor installation instruction
- 2 function of digital keypad kpc cc01
- 1 descriptions of digital keypad
- Kpc ce01 option
- Kpc cc01
- Key descriptions
- Digital keypad
- Descriptions of keypad functions
- Chapter 10 digital keypad
- Led descriptions
- Descriptions of led functions
- Chapter 10 digital keypad
- Start up
- Power on
- 2 function of digital keypad kpc cc01
- Display icon
- Detail parameter 2 copy parameter 3 keypad locked
- Default 1 2 default 2 3 user define
- 0 max output freq
- System pr 01 basic 02 di do pr pr
- System pr
- Start up
- Pr setup
- Id code 02 rated curre 03 pr reset
- Display item
- Save 2 load
- Press to lock enter
- Press enter to lock
- Keypad locked
- File 1
- A 600 0hz
- Enter press to select
- Current and voltage of the fault
- Copy plc
- Chapter 10 digital keypad
- Time 19 47 00 frequency 0 0 current 0 0
- Save to the drive 2 save to the digital display
- Press to setting menu enter
- Gff 2 oca 3 oh
- File 1
- Fault record
- Enter press to view the
- V f mode p00 07
- V f mode 2 vfpg mode 3 svc mode
- Quick setting
- Password input
- V f mode p00 07
- Password input 02 password setting 03 control mode
- Password input
- Password input 02 password setting 03 control mode
- Password input
- V f mode p00 07
- Password input decode 02 password setting 03 control mode
- My mode
- Motor current 02 03
- 02 motor current
- 02 amps
- Startup page setting
- Press to
- Language setup
- Enter the setting menu
- English 2 3
- Display setup
- Disp setup
- Contrast ad 2 bklt time
- Adjust setting value
- 01 01 _ _ _ _ _ _
- 繁體中文 簡體中文
- Time setup
- Time setting
- Pc link waiting
- Main page
- Enter press to select
- Default 2 user define
- Other display
- Optional accessory rj45 extension lead for digital keypad
- Tpeditor setup basic functions
- Edit startup page
- Chapter 10 digital keypad
- 3 tpeditor installation instruction
- Chapter 10 digital keypad
- Edit main page
- Chapter 10 digital keypad
- Chapter 10 digital keypad
- 4 digital keypad kpc cc01 fault codes and descriptions
- Fault description of file copy and setting errors
- Other ac drive error
- Lcm display description
- File 1
- This chapter provides summary of parameter settings for user to gather the parameter setting ranges factory settings and set parameters the parameters can be set changed and reset by the digital keypad
- Summary of parameter settings
- Pr explanation settings factory setting
- Im induction motor pm permanent magnet motor
- Drive parameters
- Chapter 11 summary of parameter settings
- 600 0hz
- Pr explanation settings factory setting
- Basic parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Digital input output parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Analog input output parameters
- Pr explanation settings factory setting
- Multi step speed parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Motor parameters
- Protection parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Index setting erro
- Electromagnet switch error ryf
- Slave station number setting error
- Pr explanation settings factory setting
- Pg card error pgf5 65 pg card error pgf5
- Index setting exceed limi
- Pr explanation settings factory setting
- Constant rated current and limit carrier wave by load current and temperature 1 constant carrier frequency and limit load current by setting carrier wave 2 constant rated current same as setting 0 but close current limit
- Pr explanation settings factory setting
- Special parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- High function pid parameters
- Pr explanation settings factory setting
- Communication parameters
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Speed feedback control parameters
- Pr explanation settings factory setting
- Im induction motor pm permanent magnet motor
- Pr explanation settings factory setting
- Pr explanation settings factory setting
- Im induction motor pm permanent magnet motor
- Advanced parameters
- Pr explanation settings factory setting
- Frame a b c
- Factory setting factory setting
- Factory setting 0 factory setting 0
- Drive parameter
- Display ac motor drive rated current display ac motor drive rated current
- Code pr 0 00 230v series
- Chapter 12 description of parameter settings
- V series
- This parameter can be set during operation
- Settings read only settings read only
- Pr 00 00 displays the identity code of the ac motor drive using the following table to check if
- Pr 0 01 setting is the rated current of the ac motor drive pr 0 01 corresponds to the identity
- Parameter reset
- Identity code of the ac motor drive identity code of the ac motor drive
- Group 00 drive parameters
- Password decode flow chart
- 07 00 08 00 07
- Im foc vector control encoder besides torque increases the speed control will be more
- Foc sensorless im field oriented sensorless vector control
- Filter time
- When setting pr 0 11 to 1 the v f control encoder diagram is shown as follows
- Fcmd 00 20
- When setting pr 0 11 to 0 the v f control diagram is shown as follows
- Accurate 1 1000
- This parameter determines the control method of the ac motor drive
- 24 fcmd
- Speed control
- Slip comp
- Simultaneously
- Real speed real speed
- Pm sensorless pm field oriented sensorless vector control
- Pm foc vector control encoder besides torque increases the speed control will be more
- Parameters
- M igbt pwm v f table
- Im v f control user can design proportion of v f as required and can control multiple motors
- Im v f control encoder user can use optional pg card with encoder for the closed loop
- Im sensorless vector control get the optimal control by the auto tuning of motor
- When setting pr 0 11 to 3 the focpg control diagram is shown as follows
- When setting pr 0 11 to 2 the sensorless vector control diagram is shown as follows
- When setting pr 0 11 to 5 foc sensorless control diagram is shown as follows
- When setting pr 0 11 to 4 the focpg control diagram is shown as follows
- Point to point position control
- Dq2abc
- Tqc sensorless control diagram is shown in the following diagram
- Reserved reserved
- Chapter 12 description of parameter settings ch2000 series
- Significant significant
- Significant
- Minimal minimal
- Minimal
- Heat dissipation current wave
- Electromagnetic noise or leakage current
- Carrier frequency acoustic noise
- Motor rotation speed
- Homing mode homing mode
- Reserved
- Z pulse
- Position
- Cwl orgp
- Ccwl orgp
- Position
- Homing by frequency 2
- Homing by frequency 1
- Software version date
- Reserved
- Display filter time keypad
- Group 1 basic parameters
- Group 01 basic parameters
- Chapter 12 description of parameter settings ch2000 series
- 3 high starting torque
- 2 fan and hydraulic machinery
- V f curve
- The v f curve for the motor 1 is shown as follows the v f curve for the motor 2 can be deduced
- The 2nd v f curve
- Pr 2 01 02 08 and pr 2 26 pr 2 31 are set to 14 and enabled the ac motor drive will act as
- From it
- Common settings of v f curve 1 general purpose
- Frequency
- Internal frequency command
- Frequency setting command
- Group 02 digital input output parameter
- Digital input output paramete
- Multi function inputs 1 4 will be 15 positions refer to pr 4 16 to
- Middle torque bias
- Low torque bias
- High torque bias
- Chapter 12 description of parameter settings ch2000 series
- When the contact is on the corresponding 15 step speed for the
- Switch between multi step position and multi speed control
- Signal confirmation for y connection when is the contact is on the drive will operate by 1st v f
- Signal confirmation for connection when the contact is on the drive will operate by 2nd v f
- Settings functions descriptions
- Refer to pr 1 30 11 32 for details
- Pr 4 44
- When the contact is on the ac motor drive will execute internal single point position control according to the setting in pr 0 19 this function is valid in focpg mode only
- Settings functions descriptions
- Enable single point position control
- Enable multi step position learning function when the contact is on off the drive will base the multi function inputs 1 4 on off status to find the corresponding multi step
- Off on
- Ry10 p2 36 50 rw
- Ry1 p2 13 50 rw
- Mo2 p2 17 50 rw
- Mo1 p2 16 50 rw
- Ry2 p2 14 50 rw
- Ry12 p2 38 50 rw
- Ry11 p2 37 50 rw
- Ry15 p2 41 50 rw
- Ry14 p2 40 50 rw
- Ry13 p2 39 50 rw
- Output current pr02 57 release immediately the brake
- Once the stop operating command is given then when the output frequency or output current is lower than
- Once the operating command is given then when the output frequency and output current reach the
- Once the brake is released it will not be held unless a stop command is give or certain errors are
- Occurred
- Fwd run comm
- Frequency command to max brake releasing frequency brake holding frequency to operate
- To fwd brake holding send stop operating command and set output frequency pr02 58 or set
- During the operation if the frequency command is less than the brake releasing frequency reset manually
- The setting level the brake holding operation will hold immediately the brake without delay time
- Chapter 12 description of parameter settings ch2000 series
- Setting level the brake will be released after brake delay time
- Advance crane output time sequence chart
- Rev run comm
- Pr02 61 and set output
- Pr02 59 delay pr02 32 to release brake
- Pr02 34 and set output
- Pr02 33 delay pr02 32 to release brake
- Output freq
- To rev brake holding send stop operating command and set output frequency pr02 62 or set
- Output currency pr02 60 release immediately the brake
- It is recommended to use dwell function as shown in the following
- Crane application
- Chapter 12 description of parameter settings ch2000 series
- Current detect
- Chapter 12 description of parameter settings ch2000 series
- When output current is lower or equal to pr 2 33 it will activate multi function output terminal
- When output current is higher or equal to pr 2 33 it will activate multi function output terminal
- Settings settings 0 100
- Run stop
- Pr 2 13 02 14 02 16 and 02 17 is set to 27
- If this parameter is used without dc brake it will be invalid refer to the following operation timing
- Factory setting 0 factory setting 0
- Or equal t
- Mo d43
- Actual motor speed
- Display the status of multi function input terminal
- Delay time for max frequency switch 10 24
- Chapter 12 description of parameter settings ch2000 series
- Aui 10v
- Aui 0v
- Accel decel time 01 12 01 19
- Resolution switch mi 43
- Resolution switch frequency 10 25 delay time for max frequency switch 10 24
- Resolution switch frequency 10 25
- Output frequency
- Mi4 are active
- Max output frequency 01 00
- If pr 2 50 displays 0034h hex i e the value is 52 and 110100 binary it means mi1 mi3 and
- Frequency command
- Forward running reverse running
- For example
- Factory setting read only factory setting read only
- Chapter 12 description of parameter settings ch2000 series
- 32 16 4 52
- 2 2 2 2 2
- 1x2 1x2 1x2
- When pr 2 52 displays 0034h hex and switching to 110100 binary it means mi1 mi3 and mi4
- 1 0 1 1 0
- Status of multi function output terminal
- Settings bit5x2 bit4x2 bit2x2
- P 2 52 shows the external multi function input terminal that used by plc
- On 1 off weights bit
- Mo1 are on
- Mi4 mi5
- Mi2 mi3
- If pr 2 51 displays 000bh hex i e the value is 11 and 1011 binary it means ry1 ry2 and
- For example
- Factory setting read only factory setting read only
- Display external output terminal occupied by plc
- Chapter 12 description of parameter settings ch2000 series
- Are used by plc
- 8 11 10 13 12 15 14
- 0 3 2 5 4 7 6
- Reserved
- Relay 2
- Relay 1
- P 2 53 shows the external multi function output terminal that used by plc
- Mo18 mo19 mo20
- If the value of pr 2 53 displays 0003h hex it means ry1and ry2 are used by plc
- For option card
- For example
- Factory setting read only factory setting read only
- Display multi function output terminal occupied by plc
- When the source of frequency command comes from the external terminal if lv or fault occurs at
- This time the frequency command of the external terminal will be saved in this parameter
- Settings settings read only
- Reserved reserved
- Factory setting read only factory setting read only
- Display the frequency command executed by external terminal
- This parameter needs to work with function mi 55 brake release this parameter is to measure the time interval difference between brake release delay time and brake release time
- Rev release current
- Rev brake current
- Release brake check
- Speed area band pr02 34
- Rev release frequency
- Rev brake frequency
- Llacc target frequency
- Llacc rev active current
- Llacc mode
- Llacc fwd active current
- Llacc delay time
- Llacc active frequency
- Pr02 68
- Frequency
- Counter start
- Group 03 analog input output parameter
- Analog input output paramete
- Serve bias as the center
- Recommended not to use less than 1v to set the operation frequency
- In the diagram below black color line frequency gray color line voltage
- In a noisy environment it is advantageous to use negative bias to provide a noise margin it is
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 11 analog input gain avi 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 03 10
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency pr 3 07 03 09 positive negative bias mode
- Chapter 12 description of parameter settings ch2000 series
- Chapter 12 description of parameter settings ch2000 series
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 11 analog input gain avi 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 3 03 10
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Chapter 12 description of parameter settings ch2000 series
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 11 analog input gain avi 111
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 3 03 10
- Pr03 11 analog input gain avi 111
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 3 03 10
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Lower than or equal to bias
- Frequency pr 3 07 03 09 positive negative bias mode
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 10 analog frequency command for reverse run
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Pr 0 21 0 dgital keypad control and d run in fwd direction
- Pr 0 13 analog positive input gain aui 100
- No bias 1 lower than or equal to bias 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 14 analog negative input gain aui 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 3 05 analog positive voltage input bias aui 10
- Pr 3 14 analog negative input gain aui 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 0 21 0 dgital keypad control and d run in fwd direction
- Pr 0 13 analog positive input gain aui 100
- No bias 1 lower than or equal to bias 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Frequency pr 3 05 analog positive voltage input bias aui 10
- Chapter 12 description of parameter settings ch2000 series
- Lower than or equal to bias
- Frequency
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 14 analog negative input gain aui 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 3 05 analog positive voltage input bias aui 10 pr 0 21 0 digital keypad control and run in fwd direction
- Pr 0 13 analog positive input gain aui 100
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Chapter 12 description of parameter settings ch2000 series
- Pr 3 07 03 09 positive negative bias mode
- Pr 0 13 analog positive input gain aui 111
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency pr 3 05 analog positive voltage input bias aui 10 pr 0 21 0 digital keypad control and run in fwd direction
- Chapter 12 description of parameter settings ch2000 series
- 10 9 100 111 pr 0 14 analog negative input gain aui 100
- Pr 3 10 analog frequency command for reverse run
- Pr 3 10 analog frequency command for reverse run
- Pr 3 07 03 09 positive negative bias mode
- Pr 0 21 0 igital keypad control and run in fwd direction d
- Pr 0 13 analog positive input gain aui 111
- No bias 1 2 greater than or equal to bias 3 the absolute value of the bias voltage while serving as the center 4 serve bias as the center
- Negative frequency is not valid forward and reverse run is controlled by digital keypad or external terminal 1 neagtive frequency is valid positive frequency forward run negative frequency reverse run direction can not be switched by digital keypad or external teriminal control
- Lower than or equal to bias
- Frequency pr 3 05 analog positive voltage input bias aui 10
- Chapter 12 description of parameter settings ch2000 series
- 10 9 100 111 pr 0 14 analog negative input gain aui 90
- 10 11 100 90
- Multi step speed parameters
- Group 04 multi step speed parameters
- Motor parameters
- Group 05 motor parameters
- Protection parameter
- Group 06 protection parameters
- Time 230v series
- Output frequency
- Dcbus voltage
- Hz or more
- Second most recent fault record second most recent fault record
- Present fault record present fault record
- Over heating level
- Over current during acceleration oca
- No fault record
- Fourth most recent fault record fourth most recent fault record
- Fifth most recent fault record fifth most recent fault record
- Factory setting 50 factory setting 50
- Calculate the stall prevention level during acceleration pr 6 03 pr 6 16 150x80 120
- Calculate the stall prevention level at constant speed pr 6 04 pr 6 16 100x80 80
- When operation frequency is larger than pr 1 01 e g pr06 03 150 pr 06 04 100 and pr
- Third most recent fault record third most recent fault record
- Stall prevention limit level flux weakening area current stall prevention level
- Sixth most recent fault record sixth most recent fault record
- Settings settings 0 100 refer to pr 6 03 pr 6 04
- Settings settings
- When t
- These parameters can be used with multi function output set to 35 38 for the specific requirement when the fault occurs the corresponding terminals will be activated it needs to convert binary value to decimal value to fill in pr 6 23 to pr 6 26
- When malfunction occurs use can check the current frequency command if it happens again it will overwrite the previous record
- Pr 6 29 setting defines how the will drive operate after ptc detection 再補充 03 00 d6
- Chapter 12 description of parameter settings ch2000 series
- 750ch23
- 055ch43 075 300ch43 370 750ch43 900 1100ch43 1320 2800ch43
- 037ch23
- Removable terminal block
- Figure 1
- The low current detection function will not be executed when drive is at sleep or standby status
- Special parameter
- Group 07 special parameters
- Status 2 unexpected power off such as momentary power loss
- Status 1 insufficient power supply due to momentary power loss unstable power due to low voltage sudden heavy load
- Level for soft start relay to be on
- Function is the ac motor drive decelerates to stop after momentary power loss when the momentary power loss occurs this function can be used for the motor to decelerate to 0 speed with deceleration stop method when the power is on again motor will run again after deb return time has applied on high speed spindle
- Dcbus voltage
- Output voltage
- Output current 0 35
- Output current
- Frequency output
- Frequency comman
- Drive rated current
- High function pid parameters
- Group 08 high function pid parameters
- Chapter 12 description of parameter settings ch2000 series
- 144 12 144
- The wake up integral frequency limit 01 00 08 19 the pr08 19 is used to reduce the reaction time from sleep to wake up
- Wake up delay time
- Wake up delay time once reaches the wake up delay time the motor drives starts the accelerating
- Wait to reach the sleep time then go to sleep mode 0 hz
- Time to reach pid frequency command
- Time the output frequency will also decrease if the vfd exceeds the preset sleep time it will go to
- Sleep mode which is 0 hz but if the vfd doesn t reach the sleep time it will remain at the lower limit
- Pr08 10 sleep reference point
- Pid feedback rate percentage use pid pr08 00 0 and pr08 18 1
- Output frequency
- If there is a preset of lower limit or it will remain at the lowest output frequency set at pr01 07 and
- Frequency command
- Chapter 12 description of parameter settings ch2000 series
- 148 12 148
- When the pid feedback rate reaches the sleep level percentage the vfd starts to count the sleep
- When pid feedback value reaches the wake up percentage the motor drive will start to count the
- Group 09 communication parameters
- Communication parameters
- Pid control
- Group 10 pid control
- Fwd rev
- Fwd rev
- Foc minimum stator frequency
- Reserved arm kp
- Arm ki
- Pr05 37
- Pr05 36
- Pr05 35
- It is recommended to set pr10 39 higher than
- And pr11 03
- Zero load test
- Set vfd parameters
- Set speed estimator and speed control s parameter
- Set control mode as pm sensorless mode parameters 00 10 0 00 11 6
- Set asr parameters
- Refer to switch point procedure of i f and foc as shown in the image below
- Pr11 03
- Pr11 02
- Pr11 00 bit0 1
- Pr10 39
- Pr10 32
- Pr05 38
- Pg card version
- Group 11 advanced parameters
- Advanced parameters
- S rad rpm 60 2
- S rad w p m n t
- S rad w p m n t
- S rad rpm 60 2
- S rad w p m n t
- S rad rpm 60 2
- System control flag
- Warning codes
- Warning
- Comm error 1
- Chapter 13 warning codes
- Warning
- Fault codes and descriptions
- Comm error 1
- Chapter 14 fault codes and descriptions
- Increase the estimator s bandwidth and verify if parameters relating to the
- Big difference between the rotating speed and the command detected by the sensorless solution verify if the parameter setting of the motor drive is correct increase the estimator s bandwidth and verify if parameters relating to the sensorless are correct verify if the gains of the speed circuit is reasonable
- Verify if the parameter setting of the motor drive is correct
- Sensorless are correct
- Rotating direction is different from the commanding direction detected by the sensorless solution
- Overspeed rotation detected by the sensorless solution verify if the parameter setting of the motor drive is correct increase the estimator s bandwidth and verify if parameters relating to the sensorless are correct verify if the gains of the speed circuit is reasonable
- Internal plc forced to stop verify the setting of pr 0 32
- Chapter 15 canopen overview
- Canopen overview
- Built in emc cop01 card is included in vfdxxxc23e vfdxxxc43e models
- Canopen protocol
- Canopen overview
- The network management nmt follows a master slave structure for executing nmt service only one nmt master is in a network and other nodes are regarded as slaves all canopen nodes have a present nmt state and nmt master can control the state of the slave nodes the state diagram of a node is shown as follows
- Nmt network management object
- Canopen communication protocol
- Pdo process data object
- Pdo communication can be described by the producer consumer model each node of the network will listen to the messages of the transmission node and distinguish if the message has to be processed or not after receiving the message pdo can be transmitted from one device to one another device or to many other devices every pdo has two pdo services a txpdo and an rxpdo pdos are transmitted in a non confirmed mode
- Emcy emergency object
- Type number 1 240 indicates the number of sync message between two pdo transmissions type number 252 indicates the data is updated but not sent immediately after receiving sync type number 253 indicates the data is updated immediately after receiving rtr type number 254 delta canopen doesn t support this transmission format type number 255 indicates the data is asynchronous transmission all pdo transmission data must be mapped to index via object dictionary
- The object dictionary od is a group of objects in canopen node every node has an od in the system and od contains all parameters describing the device and its network behavior the access path of od is the index and sub index each object has a unique index in od and has sub index if necessary the request and response frame structure of sdo communication is shown as follows
- Sdo service data objects
- Sdo is used to access the object dictionary in every canopen node by client server model one sdo has two cob id request sdo and response sdo to upload or download data between two nodes no data limit for sdos to transfer data but it needs to transfer by segment when data exceeds 4 bytes with an end signal in the last segment
- Pdo transmission type is defined in the pdo communication parameter index 1400h for the 1st rxpdo or 1800h for the 1st txpdo and all transmission types are listed in the following table
- Wiring for canopen
- An external adapter card emc cop01 is used for canopen wiring to connect canopen to vfd c2000 the link is enabled by using rj45 cable the two farthest ends must be terminated with 120ω terminating resistors
- There are two control modes for canopen pr 9 40 set to 1 is the factory setting mode ds402 standard and pr 9 40 set to 0 is delta s standard setting mode
- Index which are defined as ro attributes
- However you can use some index regardless ds402 or delta s standard
- For example
- Canopen control mode selection
- Canopen communication interface descriptions
- Actually there are two control modes according to delta s standard one is the old control mode pr09 30 0 this control mode can only control the motor drive under frequency control another mode is a new standard pr09 30 1 this new control mode allows the motor drive to be controlled under all sorts of mode currently c2000 support speed torque position and home mode the definition of relating control mode are
- Index correspond to parameters such as 2000 200b xx
- Accelerating decelerating index 604f 6050
- The status of the motor drive by following ds402 standard
- Related set up of ac motor drive by following ds402 standard
- Ds402 standard control mode
- Xxxx110 and disable qstop 1
- Ready to switch on
- Xxxx110
- Quick stop active
- Xxx1111
- Power enable
- X1xx0000
- Power disable
- X0xx1111
- Operation enable
- X0xx1000
- Operate enable status the way to change it is to commend the control word s bit0 bit3 and
- X0xx0000
- Not ready to switch on
- X01x0111
- Index 6041
- X01x0011
- Index 6040 index 6040
- X01x0001
- Fault reaction active the motor drive detects conditions which might trigger error s
- X00x0111
- Fault reaction active
- Therefore when the motor drive is turned on and finishes the initiation it will remain at ready to
- Fault one or more than errors has occurred to the motor drive
- Xxxxxxx
- Switch on status to control the operation of the motor drive you need to change this status to
- Bit7 of the index 6040h and to pair with index status word status word 0x6041 the control
- Xxxxx0x or fout 0
- Switch on disable
- Xxxxx0x or 0xxxx01x or disable qstop 0
- Switch on
- Xxxxx0x
- Xxxx111
- Steps and index definition are described as below
- To set target frequency set target frequency of 6042 since the operation unit of 6042 is rpm there
- F rotation frequency hz
- To set acceleration and deceleration use 604f acceleration and 6050 deceleration
- Control mode of c2000 supporting speed torque position and home control are described as
- Switch to operation enable mode set 6040 0xe then set 6040 0xf
- Clockwise or counter clockwise
- Speed mode index 6060 2
- Chapter 15 canopen overview c2000 series
- Bit 6 bit 5 bit 4 sum
- Speed mode
- Besides when the control section switches from power enable to power disable use 605c to define
- Set command 6040 0xe then set another command 6040 0xf then the motor drive can be switched to operation enable the index 605a decides the dashed line of operation enable when the control mode changes from quick stop active when the setting value is 1 3 this dashed line is active but when the setting value of 605a is not 1 3 once he motor derive is switched to quick stop active it will not be able to switch back to operation enable
- Besides the 6042 is defined as a signed operation the plus or minus sign means to rotate
- Set 6042h 1500 rpm if the motor drive s pole number is 4 pr05 04 or pr05 16 then the
- 3 2 3 various mode control method by following ds402 standard
- Parking method
- 11 15 11
- P 120 f n
- Other decelerate to 0hz
- 1 1 run to reach targeting signal
- N rotation speed rpm rounds minute p motor s pole number pole
- 0 1 locked at the current signal
- Motor drive s operation frequency is 1500 120 4 50hz
- Let ac motor drive be at the speed control mode set index6060 to 2
- It is defined as below index 6040
- Is a transformation
- Trigger an ack signal in the speed control mode the bit 6 4 of index 6040 needs to be controlled
- For example
- By using delta standard old definition only support speed mode
- 3 various mode control method by following ds402 standard
- By using delta standard new definition
- 3 4 1 related set up of ac motor drive delta new standard
- 3 3 2 by speed mode
- 3 4 2 various mode control method delta new standard
- 3 5 di do ai ao are controlled via canopen
- H group member 1
- H 15 0fh
- Group group member
- For example
- Delta standard mode old definition
- Canopen supporting index
- C2000 index
- C2000 control index
- Sub index 0fh 1h 10h sub index 0fh 1h 10h
- Pr 0 5 encoder slip error treatment
- Parameter index corresponds to each other as following
- Index index sub index
- Index 2000h 0ah 200a index 2000h 0ah 200a
- Delta standard mode new definition
- Canopen remote io mapping
- Ds402 standard
- Canopen fault code
- Canopen led function
- Plc function
- Chapter 16 plc function
- Plc overview
- Ladder diagram editor wplsoft
- Introduction
- 2 precautions for using plc functions
- Modbus rs 485
- H 0 0hz a 0 0hz c _ _ _ _ _
- The steps for plc execution
- Start up
- Disable 2 plc run 3 plc stop
- Previous state on on
- Plc stop plc 2 on off
- Plc run plc 1 off on
- Plc mode plc mode select bit1 52 plc mode select bit0 51
- Output devic
- Input devic
- I o extension card 2 i o extension card emc d611a d1022 4 3 i o extension card emc d42a d1022 5
- I o extension card 2 i o extension card emc d42a d1022 5 3 i o extension card emc r6aa d1022 6
- I o device reference table
- Execute stop is controlled by wpl editor
- Disable plc 0 off off
- When switching the page from plc to plc2 it will stop plc again the motion of plc
- When switching the page from plc to plc1 it will execute plc the motion of plc
- When kpc ce01 execute plc function
- When input output terminals fwd rev mi1 mi8 mi10 15 relay1 relay2 ry10 ry15 mo1 mo2 mo10 mo11 are used in plc program they cannot be used in other places fro example when plc program plc1 or plc2 is activated such as when it controls y0 the corresponding output terminals relay ra rb rc will be used at this moment pr 3 0 setting will be invalid since the terminal has been used by plc refer to pr 2 52 02 53 03 30 to check which di do ao are occupied by plc
- The control of external terminals follows the same method
- Wplsoft v2 9 at delta website http www delta com tw industrialautomation
- Wplsoft installation
- Program input
- Download plc program toc2000 refer to d to d for program coding and download the editor
- Program monitor
- Program download
- Program scan chart of the plc ladder diagram
- Ladder diagram
- The structure of ladder diagram and information
- Structure explanation command device
- Ladder diagram
- X0 x1 y1 x4
- Tmr t0 k10
- The edition of plc ladder diagram
- Structure explanation command device
- Ladder diagram
- The example for designing basic program
- Start stop and latching
- The common control circuit
- Seconds
- Plc devices function
- Value constant k h
- The function of output contact y
- The function of input output contacts
- Devices functions
- The function of auxiliary relay
- The features and functions of counter
- The function of timer
- When x0 on rst command is executed c0 reset to 0 and output contact reset to off 2 when x1 is from off to on counter will count up add 1 3 when counter c0 attains settings k5 c0 contact is on and c0 setting k5 c0 won t accept x1 trigger signal and c0 remains k5
- The setting of counter can use constant k or register d not includes special data register
- Special auxiliary relays
- Ld x0 rst c0 ld x1 cnt c0 k5 ld c0 out y0
- If using constant k to be setting it can only be positive number but if setting is data register d it
- Example
- D1000 d1044 to be indirect setting
- Can be positive negative number the next number that counter counts up from 32 767 is
- 32 768
- D1010 present scan time unit 0 ms read only
- D1004 d1009 reserved
- D1003 checksum read only
- D1002 program capacity read only
- D1001 plc firmware version read only
- D1000 reserved
- Special registers
- Special d function read r write w
- D1020 output frequency 0 00 600 0hz read only
- D1013 d1019 reserved
- D1012 maximum scan time unit 0 ms read only
- D1011 minimum scan time unit 0 ms read only
- Random value
- Special d can be written only when plc is at stop
- Canopen master special
- Communication address for plc devices
- Rising edge falling edge detection commands of contact
- Output command
- Main control command
- End command
- Commands
- Basic commands
- Timer and counter
- Rising edge falling edge output commands
- Other command
- Explanation for the command
- Description of the application commands
- Explanation for the application commands
- Quotient remainder
- Incp d0
- Decp d0
- Upper bit lower bit
- Rotate to the right
- Rorp d10 k4
- Carry flag
- After one rotation to the right
- 1 1 0 1 0 1 0 0 1 1 1 0 0 1
- 1 0 1 1 1 0 0 1 1 1 1 0 0 1 0 0
- D10 k4
- When x11 on change the corresponding integral number to the floating point
- S source device d device for storing the conversion result
- Operands no of
- Operand no of d
- Operand
- Notation and put them into d20 and d21
- Must select same device type please refer to the specification of each model series for applicable range of the device
- Floating point floating point
- Flag signal none
- Example
- Change the integral number of bin to a number with two decimal places
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Bit command
- P modbus r w
- Operands no of
- Operand no of d
- Operand
- Must select same device type please refer to the specification of each model series for applicable range of the device
- Flag signal m1077 m1078 m1079
- Chapter 16 plc function ch2000 series
- Bit devices word devices
- Bit command 5 steps
- Here is an example of when c2000 wants to control another motor drive and a
- Function description
- F write multiple coil
- Before using this command set com1 to be controlled by plc set pr09 31
- And pr09 04 s2 communication function code this command only supports
- Address to read data s register to read and write data
- 12 then set the corresponding comunication speed and format set pr09 01
- Write a single word
- To control a slave motor drive
- The function codes in the table below
- S1 addres of the connecting device s2 communication function code s3
- Read word
- Plc with station number 20
- Once the command is executed m1077 m1078 and m1079 will become zero
- Input read
- To control the slave plc
- Example
- Degree
- Chapter 16 plc function ch2000 series
- Radian
- Degree radian x 180
- Chapter 16 plc function ch2000 series
- Asin value si
- When x0 on dasin instruction performs arc sine operation on the binary floating
- Value in d1 d0 and stores the asin value in d11 d10 in binary floating format
- See the figure below for the relation between input s and the result
- S source device binary floating value d operation result
- S input sin value r result asin value
- P arc sine
- Operands please refer to the specifications of each model for the range of operands
- Flag signal none
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Flag signal none
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Acos value co
- When x0 on dacos instruction performs arc cosine operation on the binary floating
- Value in d1 d0 and stores the acos value in d11 d10 in binary floating format
- See the figure below for the relation between the input s and the result
- S source device binary floating value d operation result
- S input cos value r result acos value
- P arc cosine
- Operands please refer to the specifications of each model for the range of operands
- P art tangent
- Operands please refer to the specifications of each model for the range of operands
- Format
- Floating value in d1 d0 and stores the atan value in d11 d10 in binary floating
- Flag signal none
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Atan value ta
- When x0 on datan instruction performs arc tangent operation on the binary
- When x0 on specify binary floating point d1 d0 calculate sinh value and save the
- Sinh value
- Result in d11 d10 the result stored in d11 d10 is all in binary floating point format
- P hyperbolic sine
- Operands please refer to the specifications of each model for the range of operands
- Flag signal none
- Dsinh d0 d10
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Dcosh d0 d10
- Cosh value
- Bit devices word devices
- Bit command 5 steps
- Bit command
- When x0 on specify binary floating point d1 d0 calculate cosh value and save
- The result in d11 d10 the
- S specified source binary floating point d area where calculated result is stored
- Result stored in d11 d10 is all in binary floating point format
- P hyperbolic cosine
- Operands please refer to the specifications of each model for the range of operands
- Flag signal none
- Result in d11 d10 the
- P hyperbolic tangent
- Operands please refer to the specifications of each model for the range of operands
- Flag signal none
- Example
- D 1 d 0
- Bit devices word devices
- Bit command 5 steps
- Bit command
- When x0 on specify binary floating point d1 d0 calculate asin value and save the
- The result stored in d11 d10 is all in binary floating point format
- Tanh value
- S specified source binary floating point d area where calculated result is stored
- P comparison of calendar data
- Operands please refer to the specifications of each model for the range of operands
- On off state before m10 m12 is kept connect m10 m12 in series or in parallel and
- M10 m12 when x10 goes from on off the command is not executed but the
- Flag signal none
- Example
- D20 d22 is compared to the set value 12 20 45 and the result is shown at
- D comparison result occupies 3 continuous devices
- When x10 on the command is executed and the current time of real time clock in
- Chapter 16 plc function ch2000 series
- Then the result of are given
- Bit devices word devices
- The range of operand s1 s2 s3 s1 0 23 s2 s3 k0 59
- Bit command 5 steps
- Second of comparison time setting range is k0 k59
- Bit command
- S2 minute of comparison time setting range is k0 k59 s3
- S1 s2 s3 is compared to the current value of the head address s and save the comparison result in d s1 is the hour of current time and the content is k0 k23 s2 is the minute of current time and the content is k0 k59 s3 is the second of current time and the content is k0 k59 the current time of real time clock specified by s is read by using trd command previously and then compared by using tcmp command if the content of s exceeds the range it will result in operation error at this time the command won t be executed and m1067 on m1068 on records error code 0e1a hex in d1067
- S1 hour of comparison time setting range is k0 k23
- S current time of calendar occupies 3 continuous devices
- 10 20 6 40 6 14 50 26
- D20 d21 d22
- D11 d12
- D0 d1 d2
- 20 5 14 30 8 5 49 57
- When x0 on constant k 6513 is converted to the gray code and stored in
- And the converted result is stored in the area specified by d
- The range of s that can be converted to the gray code is shown as follows
- 0 32 767
- The d0
- 0 2 147 483 647
- The bin value in the specified device by s is converted to the gray code equivalent
- S source device d destination to store gray code result
- P bin gray code
- Operands please refer to the specifications of each model for the range of operands
- If the bin value is outside the range shown above it is determined as operation
- Flag signal none
- Example
- Error at this time the command won t be executed
- Chapter 16 plc function ch2000 series
- Bit devices word devices
- Bit command 5 steps
- Bit command
- Bit comman
- Description to drive s special commands
- When m11 on setting frequency command of the ac motor drive to
- When m10 on setting frequency command of the ac motor drive to
- M1025 controls run on stop off of the drive m1026 operation direction
- K3000 30 0hz acceleration time is 50 and deceleration time is 60
- K300 3 0hz and acceleration deceleration time is 0
- Fwd on rev off of the drive m1015 frequency attained
- Example
- Example
- D1060 control mode setting d1053 actual torque
- Chapter 16 plc function ch2000 series
- Blinking
- Bit devices word devices
- When target torque is attained m1063 will switch on and flag signal will be
- Bit command 7 steps
- When m10 on ac motor drive begins to execute torque command
- Bit command
- When m0 on setting torque command of ac motor drive to k 300 30 and
- And speed limit to 3000 30hz
- When m0 off setting torque command of the ac motor drive to k 300 30
- Torque control of ac motor drive
- Torque command display in signed decimal with one decimal place
- Speed limit to 3000 30hz
- Speed limit 2 this command can control torque command and speed limit special register control is shown as following
- Operands none
- M1040 controls servo on on servo off off torque output and speed limit are defined by the setting of torq command when torq command is set when servo is on
- M1040 control servo on on servo off off m1063 target torque attained
- Flag signal m1063
- Chapter 16 plc function ch2000 series
- Bit devices word devices
- Bit command 7 steps
- Bit command
- The icomw command can write the register of the ac motor drive and that of
- Slave station number
- Saving device
- Reading address
- Operands none
- Internal plc from slave station
- Internal communication writer
- Flag signal m1077 m1078 m1079
- Example
- Device chosen 0 ac motor drive 1 internal plc
- Error and troubleshoot
- Step 2 configuration of the special d in master
- Step 1 activate canopen master
- Canopen master application
- Step 4 coding
- Step 3 set up master station number and communication speed
- Step 5 setting the slave station number communication speed operation source and command source
- Step 7 activate plc control function
- Step 6 hardware connection
- Example
- Speed torque homing and position modes
- 9 descriptions of plc control modes
- Special d descriptions r w
- M1052 lock
- M1044 halt
- If the drive is in foc control mode please auto tuning the motor before setting plc control mode to
- Freq p s1 s2 s3
- Fault alarm may still occur
- Write freq command to plc program to control ac motor drive s frequency and accel decel
- Example of speed control mode
- D1050 actual mode 0 speed 1 position 2 torque 3 homing
- When setting m1040 1 ac motor drive power turns on but frequency remains 0
- Control command for speed mode
- When setting m1025 1 ac motor drive begins to operate till the freq frequency is attained
- And will accel decel according to the setting of freq
- When setting d1060 0 ac motor drive is in speed mode default setting
- Use m1052 to lock present operation frequency
- Use m1044 to halt the drive and decelerate by the deceleration setting
- Use m1042 to quick stopping the drive the drive will decelerate by its maximum deceleration
- Target speed target speed 1st step accel time 1st step decel time
- Speed control
- Speed and it is the speed that would not trigger a fault alarm however if loading is too large a
- Position mode then the plc program will be in position mode when drive power turns on
- Part iii point to point position control switch control mode to position mode d1060 1 and
- Next step in this example turn ac motor drive power on by trigger x2 and set m1002 to
- Motor will be running forward and reverse between the position setting 300000 300000
- If user s application does not require homing action you may skip part i and part ii and go to the
- 10 internal communication for master control
- Special d status
- Special d description r w
- Special d control setting
- Special d
- Slave drive
- Setting for d1110 is 1 8 if d1110 is set to 0 slave 8 is assigned
- Plc programming for master drive control
- Once the slave drive is assigned set m1035 1 for the master to control the slave
- M1035 enable internal communication control
- In plc program d1110 is used for assigning the slave drive user wishes to control the range
- Description
- D1117 corresponding on line bit of internal communication node bit0 slave 1 bit1
- Write control command to the corresponding slave address then master is able to control the
- D1116 internal communication node error bit0 slave 1 bit1 slave 2 bit7 slave 8
- The corresponding registers for internal communication are listed in the chart below
- D1115 synchronous time cycle of internal communication ms
- Special m description r w
- D1110 number of internal communication nodes 1 8
- Special m control setting
- Chapter 16 plc function ch2000 series
- Slave 2 bit7 slave 8
- Operation monitoring opening point a internal node line correspondence
- Node 0 online
- Node 0 arrive
- Internal node status of 0
- Internal node 0
- Example the plc programming diagram below shows how to use internal communication to
- Diagram 1 detects slave drive on line status and check if error occurs then set internal
- Description
- Control the frequency of slave 1 and switches between 30 0hz and 60 0 hz
- Communication node 0 to the control command user wishes to control
- Chapter 16 plc function ch2000 series
- Special d description r w
- Special d
- For 1 second and repeats frequency switching
- Diagram 3 commanding slave 1 to forward run in 30 0hz for 1 second and reverse run in 60 0hz
- Diagram 2 when slave 1 on line status is detected it will delay for 3 seconds before control
- Command is enabled
- Will be saved to d1054 and d1055 in 32bit signed decimal when m1039 is on counting value will
- When plc program m1038 and m1039 uses mi8 for counting function the previous ac motor drive setting of mi8 is disabled and have no function
- The multi function input terminal mi8 can be used for single direction pulse counting and provides
- Reset to 0
- A maximum speed of 100k to initiate mi8 for counting simply set m1038 to on and the count value
- 11 counting function via mi8
- Xx means disregard
- Chapter 16 plc function ch2000 series
- When executing modrw the status will be shown in m1077 485 reading and writing complete
- C2000 internal plc supports reading and writing of 485 and it is realized by modrw command but
- Time out m1099 will be set as on
- Before programming it is necessary to define the serial as plc 485 which sets p09 31 12 after
- Setting standard function defined by 485 can be used to read or write command to other nodes
- 12 remote io control application of modbus using modbus
- S1 s2 s3 s4 s5
- Register
- Reading coil h1 reading input 0x02 reading register 0x03 writing single register 0x06 writing
- Of m1077 will be cleared as 0 when commanding modrw when feedback is complete error or
- Node comm addr
- Multiple coils 0x0f and writing multiple register 0x10 explanation as below
- Modrw command
- Meaning slave is delta plc slave is delta motor drive
- M1078 485 reading and writing error and m1079 485 reading and writing time out the definition
- Length
- Current plc node definition can be set in p09 35 so far the functions supported by c2000 are
- Communication speed definition can be set in 09 01 communication protocol can be set in p09 04 and
- When there are time out or feedback errors m1077 will be on and after 30 times scan cycle
- When feedback is finished without error switch to next command
- The first command will be transfer timing when turning on
- On only for 1 scan a
- M1078 m1079
- Example program each function testing
- Example
- End 121
- Commanding again
- After finishing all commands repeat again
- Module terminals 485 address
- Step 4 programming plc
- How to select the right ac motor dirve
- Chapter 17 how to select the right
- Ac motor drive
- 1 capacity formulas
- _ _ _ _ _ _ 1 1 a drive motor ac of current rated the k n n i n
- _ _ _ _ _ 10 3
- Kva drive motor ac of capacity the i v k
- Selection note
- Parameter settings note
- 2 general precaution
- 3 how to choose a suitable motor
- Different and depending on brand the lubricating function for operating long time at low speed
- The torque characteristics of a motor operated by an ac motor drive and commercial mains power
- Delta ac motor drives are not suitable for ex areas with special precautions
- The rated current is higher than that of a standard motor please check before operation and
- Choose the capacity of the ac motor drive carefully with long motor cable between ac motor
- The rated current and starting current are higher than for standard motors please check before
- Chapter 12 description of parameter settings ch2000 series
- The lubricating method of reduction gearbox and speed range for continuous operation will be
- Chains etc over longer periods at low speeds at high speeds of 50 60hz and above lifetime
- Synchronous motor
- Below you ll find the torque speed characteristics of a standard motor 4 pole 15kw
- Submersible motor
- Are different
- Reducing noises and vibrations may occur
- And for high speed operation needs to be considered carefully
- Pay attention to reduced lubrication when operating gear reduction motors gearboxes belts and
- Ac motor drive motor
- Operation and choose the capacity of the ac motor drive carefully when the ac motor drive
- Operates more than one motor please pay attention to starting and changing the motor power transmission mechanism
- Needs to be installed in a safe place and the wiring should comply with the ex requirements
- Motor torque
- Gear reduction motor
- Explosion proof ex motor
- Drive and motor available motor torque is reduced
- Chapter 18 suggestions and error corrections for standard ac motor drives
- Suggestions and error corrections for standard ac motor drives
- 1 maintenance and inspections
- 2 greasy dirt problem
- 3 fiber dust problem
- 4 erosion problem
- 5 industrial dust problem
- 6 wiring and installation problem
- 7 multi function input output terminals problem
- Crane function
- Crane application
- Chapter 19 application of ch2000
- Application of ch2000
- Emc standard installation guide
- Emc compliance practice
- Appendix emc standard installation guide
- Appendix ac motor drives
- Solutions
- Preface
- Finding the noise
- Table of contents
- What is emc
- Emc for ac motor drive
- Chapter 1 introduction
- Types of emi common mode and differential mode noise
- Receive
- Noise unshielded cable
- How does emi transmit noise transmission path
- Ground
- Cstray
- Chapter 2 how to prevent emi
- Chapter 3 solution to emi grounding
- According to ohm s law the earth resistance for electrode and the ground are different in this case potential differences may arise
- Protective grounding functional grounding
- Ground loops
- Earthing systems
- Tn system
- Tn s system
- Tn c system
- Tt system
- Tn c s system
- It the neutral point of the transformer and electrical equipment are not earthed only the equipment frames pe are earthed in the it network the power distribution system neutral is either not connected to earth or is earthed via a high impedance in such a system an insulated monitoring device is used for impedance monitoring a built in filter should be disconnected by the rfi jumper and an external filter should not be installed when the ac motor drive or the ac servo motor drive is connected to an it system
- It system
- Criteria for earthing system and emc
- What is shielding
- Chapter 4 solution to emi shielding
- F 0 fcutoff se is approximately 27d g
- Electromagnetic fields
- D depth
- Waveguide below cut off doesn t leak very much does not have to be a tube
- Wall of shielded enclosure greater leakage form bigger apertures
- Metallic shielding effectiveness
- How to reduce emi by shielding
- Electrical wires and cables
- Electrical cabinet design
- Filter
- External filter
- Chapter 5 solution to emi filter
- Zero phase reactor installation
- Zero phase reactor choke
- Zero phase reactor
- Power supply
- Filter installation with and without
- Ac motor drives with built in filter
- Ac reactor
- Suppression of harmonic currents
- Harmonic interference
- Harmonic current at the power supply side
- Analog input signals
- Without reactor with reactor
- Dc reactor
- Current wave diagrams
- A dc reactor is installed between the rectifier and the dc bus capacitor to suppress harmonic currents and to achieve a higher power factor
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