Delta C2000 Series User Manual page 902

Step 3: Set the master's communications station number and communications
speed
When setting the master's station number (Pr. 09-46, default is set as 100), make sure not to use the

same number as a slave station.
Set the CANopen communications speed (Pr. 09-37); regardless of whether the drive is defined as a

master or slave station, the communications speed is set via this parameter.
Step 4: Write program code
Real-time access: Can directly read/write to or from the corresponding D area.
Non real-time access:
Read command: Use the CANRX command for reading. M1066 will be 1 when reading is completed;
M1067 will be 1 if reading is successful, and M1067 will be 0 if an error has occurred.
Write command: Use the CANTX command for writing. M1066 will be 1 when writing is completed;
M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has occurred.
Refresh command: Use CANFLS command to refresh (if there are RW attributes, the master will
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 drive (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 drive, 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
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 -
- -
16-141
Chapter 16 PLC Function ApplicationsC2000
Value
0 Disable CANopen hardware interface
1–127 CANopen Communication address
0 1Mbps
1 500Kbps
2 250Kbps
3 125Kbps
4 100Kbps
5 50Kbps
3
5
6
5
3
-
3
-
Definition