Canopen Master Application; Activate Canopen Master; Configuration Of The Special D In Master - Delta C2000 series User Manual

16.7 CANopen Master Application

Simple control of multiple-axes for certain application can be done by C2000 if the device supports
CANopen protocol. One of the C2000 could acts as Master to perform simple synchronous control,
e.g. position, speed, zero return, and torque control. The setup can be done in 7 steps:
Step 1: Activate CANopen Master
1. Set Pr.09-45 to 1. (To activate Master function, turn off the power after setting and reboot.
The digital keypadKPC-CC01 status will display "CAN Master".)
2. Set Pr.00-02 to 6 for PLC reset. (Note: This action will erase the program and PLC register
and will be set to factory setting.)
3. Turn off the power and reboot.
4. Set PLC control to"PLC Stop mode" by digital keypad KPC-CC01. (If the digital keypad is
KPC-CE01 series, set PLC control to"PLC 2". If the drive just came out of the factory, since
PLC program is not yet installed, the digital keypad will show PLFF warning code.)
Step 2: Configuration of the Special D in Master
Each slave occupies 100 of Special D space and is numbered 1 to 8. There are in total of 8
stations. Please refer to 4-3 Special Register in this chapter for Special D register definition.
Slave No.
1. When communication cable 485 is connected, set PLC status to "stop" by WPL soft. (If PLC
had already switched to "PLC Stop" mode then PLC status should be "stop" already.)
Slave No. 1 D2000
D2001
~
D2099
Slave No. 2 D2100
D2101
~
D2199
Slave No. 3 D2200
D2201
~
D2299
Slave No. 8 D2700
D2701
~
D2799
16-80
Chapter 16 PLC Function |C2000 Series
Station number
Factory code(L)
~
The mapping address 4(H) of receiving
station 4
Station number
Factory code(L)
~
The mapping address 4 (H)of receiving
station 4
Station number
Factory code(L)
~
The mapping address 4 (H)of receiving
station 4
Station number
Factory code(L)
~
The mapping address 4(H) of receiving
station 4