Delta C2000 Series User Manual page 622

Read command :
complete; M1067 will be 1 if reading is successful, and M1067 will be 0 if an error has
occurred.
Write command :
complete; M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has
occurred.
Refresh command:
write to the slave station; if there are RO attributes, the slave station will return the read
values to the master); M1066 will be 1 if refresh has been completed; M1067 will be 1 if
refresh is successful, and M1067 will be 0 if an error has occurred.
NOTE
When using CANRX, CANTX or CANFLS, internal implementation commands will wait until M1066 is
completed before executing the next CANRX, CANTX or CANFLS.
Afterwards, download program to the driver (Please note that the PLC's default communications format is
ASCII 7N2 9600, and the station number is 2. The WPL must therefore be modified, and the WPL setting
pathway is settings > communications settings )
Step 5: Set the slave stations' station numbers, communications speed, control
source, and command source
Delta's C2000 and EC series devices currently support the CANopen communications interface driver,
and the corresponding slave station numbers and communications speed parameters are as follows:
Slave station
address
Communication
speed
Control source
Frequency source
Torque source
Position source
Delta's A2 Servo currently supports the CANopen communications interface, and the corresponding slave
station numbers and communications speed parameters are as follows:
Slave station
address
Communication
speed
Use the CANRX command for reading. M1066 will be 1 when reading is
Use the CANTX command for writing. M1066 will be 1 when writing is
Use CANFLS command to refresh (if there are RW attributes, the master will
Corresponding device
parameters
C2000 E-C
09-36 09-20
09-37 09-21
00-21 -
- 02-01
00-20 -
- 02-00
11-33 -
- -
11-40 -
- -
Corresponding device
parameters
A2
03-00
03-01 bit 8-11 XRXX
16-130
Value
0 Disable CANopen hardware interface
1~127 CANopen Communication address
0 1M
1 500K
2 250K
3 125K
4 100K
5 50K
3
5
6
5
3
-
3
-
Value
1~127 CANopen Communication address
R= 0 125K
R= 1 250K
R= 2 500K
Definition
Definition