Delta CP2000 Series, User Manual

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Chapter 15 CANopen Overview
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CP2000
15-13
15-3-5 DI/ DO/ AI/ AO are controlled via CANopen
To control the DO/AO of the motor drive through CANopen, follow the steps below:
1. Define the DO to be controlled by CANopen. For example, set Pr.02-14=50 to control RY2.
2. Define the AO to be controlled by CANopen. For example, set Pr.03-23=20 to control AFM2.
3. Control the mapping index of CANopen. To control DO, use control Index2026-41. To control AO,
you will need to control 2026-AX. To set RY2 as ON, set bit1 of Index 2026-41 =1, then RY2
outputs 1. To control AFM2 output = 50.00%, set Index 2026-A2 =5000, then AFM2 outputs 50%.
The following table shows the mapping of CANopen DI/ DO/ AI/ AO:
DI:
Terminal Related Parameters R/W Mapping Index
FWD == RO 2026-01 bit0
REV == RO 2026-01 bit1
MI 1 == RO 2026-01 bit2
MI 2 == RO 2026-01 bit3
MI 3 == RO 2026-01 bit4
MI 4 == RO 2026-01 bit5
MI 5 == RO 2026-01 bit6
MI 6 == RO 2026-01 bit7
MI 7 == RO 2026-01 bit8
MI 8 == RO 2026-01 bit9
MI 10 == RO 2026-01 bit10
MI 11 == RO 2026-01 bit11
MI 12 == RO 2026-01 bit12
MI 13 == RO 2026-01 bit13
MI 14 == RO 2026-01 bit14
MI 15 == RO 2026-01 bit15
DO
：
Terminal Related Parameters R/W Mapping Index
RY1 Pr.02-13 = 51 RW 2026-41 bit0
RY2 Pr.02-14 = 51 RW 2026-41 bit1
RY3 Pr.02-15 = 51 RW 2026-41 bit2
MO10/RY10 Pr.02-36 = 51 RW 2026-41 bit5
MO11/RY11 Pr.02-37 = 51 RW 2026-41 bit6
RY12 Pr.02-38 = 51 RW 2026-41 bit7
RY13 Pr.02-39 = 51 RW 2026-41 bit8
RY14 Pr.02-40 = 51 RW 2026-41 bit9
RY15 Pr.02-41 = 51 RW 2026-41 bit10
AI
：
Terminal Related Parameters R/W Mapping Index
AVI1 == RO Value of 2026-61
ACI == RO Value of 2026-62
AVI2 == RO Value of 2026-63
AO
：
Terminal Related Parameters R/W Mapping Index
AFM1 Pr.03-20 = 21 RW Value of 26A0h
AFM2 Pr.03-23 = 21 RW Value of 26A1h
AFM10 Pr.14-12 = 21 RW Value of 26AAh
AFM11 Pr.14-13 = 21 RW Value of 26ABh