Delta C2000 Series User Manual page 612

16- 8 CANopen Master control applications
Control of a simple multi-axis application is required in certain situations. If the device supports the
CANopen protocol, a C2000 can serve as the master in implementing simple control (position, speed,
homing, and torque control). The setting method comprises the following seven steps:
Step 1: Activating CANopen Master functions
1. Parameter 09-45=1 (initiates Master functions); restart power after completing setting, the status bar
on the KPC-CC01 digital keypad will display "CAN Master".
2. Parameter 00-02=6 reset PLC (please note that this action will reset the program and PLC registers
to the default values)
3. Turn power off and on again.
4. Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if the KPC-CE01
digital keypad is used, set as "PLC 2"; if a newly-introduced driver is used, the blank internal PLC
program will cause a PLFF warning code to be issued).
Step 2: Master memory settings
1. After connecting the 485 communications cable, use WPL Soft to set the PLC status as Stop (if the
PLC mode has been switched to the "PLC Stop" mode, the PLC status should already be Stop)
2. Set the address and corresponding station number of the slave station to be controlled. For instance,
if it is wished to control two slave stations (a maximum of 8 stations can be controlled simultaneously),
and the station numbers are 21 and 22, it is only necessary to set D2000 and D2100 as 20 and 21,
and then set D2200, D2300, D2400, D2500, D2600, and D2700 as 0. The setting method involves
use of the PLC's WPL editing software WPL as follows:
Open WPL and implement communications > register edit (T C D) function
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