Delta C2000 Series User Manual page 744

15-3-5 DI/DO AI/AO are controlled through 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 to control RY2.
2. Define the AO to be controlled by CANopen. For example, set Pr. 03-23 to control AFM2.
3. Control the mapping index of CANopen. To control DO, use control index 2026-41. 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
FWD
REV
MI1
MI2
MI3
MI4
MI5
MI6
MI7
MI8
MI10
MI11
MI12
MI13
MI14
MI15
R/W
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
15-17
Chapter 15 CANopen Overview C2000
Mapping Index
2026-01 bit0
2026-01 bit1
2026-01 bit2
2026-01 bit3
2026-01 bit4
2026-01 bit5
2026-01 bit6
2026-01 bit7
2026-01 bit8
2026-01 bit9
2026-01 bit10
2026-01 bit11
2026-01 bit12
2026-01 bit13
2026-01 bit14
2026-01 bit15