Di/ Do/ Ai/ Ao Are Controlled Via Canopen - Delta CP2000 Series User Manual

Chapter 15 CANopen Overview│CP2000

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. To set the DO to be controlled, define this DO to be controlled by CANopen. For example, set
Pr02-14=50 to control RY2.
2. To set the AO to be controlled, define this AO to be controlled by CANopen. For example, set
Pr03-23=20 to control AFM2.
3. To control the mapping index of CANopen. If you want to control DO, then you will need to control
Index2026-41. If you want to control AO, then you will need to control 2026-AX. If you want to set
RY2 as ON, set the bit 1 of Index 2026-41 =1, then RY2 will output 1. If you want to control AFM2
output = 50.00%, then you will need to set Index 2026-A2 =5000, then AFM2 will output 50%.
Mapping table of CANopen DI DO AI AO:
DI:
Terminal Related Parameters
FWD
REV
MI 1
MI 2
MI 3
MI 4
MI 5
MI 6
MI 7
MI 8
MI 10
MI 11
MI 12
MI 13
MI 14
MI 15
DO：
Terminal Related Parameters
RY1
RY2
RY3
MO1
MO2
MO3
MO4
MO5
MO6
MO7
MO8
R/W
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
R/W
P2-13 = 50 RW
P2-14 = 50 RW
P2-15 = 50 RW
P2-16 = 50 RW
P2-17 = 50 RW
P2-18 = 50 RW
P2-19 = 50 RW
P2-20 = 50 RW
P2-21 = 50 RW
P2-22 = 50 RW
P2-23 = 50 RW
Mapping Index
2026-01 bit 10
2026-01 bit 11
2026-01 bit 12
2026-01 bit 13
2026-01 bit 14
2026-01 bit 15
Mapping Index
2026-41 bit 10
15-14
2026-01 bit 0
2026-01 bit 1
2026-01 bit 2
2026-01 bit 3
2026-01 bit 4
2026-01 bit 5
2026-01 bit 6
2026-01 bit 7
2026-01 bit 8
2026-01 bit 9
2026-41 bit 0
2026-41 bit 1
2026-41 bit 2
2026-41 bit 3
2026-41 bit 4
2026-41 bit 5
2026-41 bit 6
2026-41 bit 7
2026-41 bit 8
2026-41 bit 9