Delta C2000 Series User Manual page 903

Chapter 16 PLC Function ApplicationsC2000
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
Control/command
source
Step 6: Connect hardware wiring
When performing wiring, note the head and tail terminal resistance; connection methods are as
follows:
Step 7: Initiate control
After a program has been written and downloaded, switch the PLC mode to Run. Merely turn power
to master and slave stations off and then on again.
Refer to CANMasterTest 1 vs. 2 drive.dvp
Example
C2000 drive one-to-two control
Step 1: Activating CANopen Master functions
Pr. 09-45=1 (initiates Master functions); restart power after completing setting, the

status bar on the KPC-CC01 digital keypad will display "CAN Master".
Pr. 00-02=6 reset PLC (please note that this action will reset the program and PLC

registers to the default values)
Turn power off and on again.

Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if a

newly-introduced drive is used, the blank internal PLC program will cause a PLFF
warning code to be issued).
Corresponding device
parameters
A2
03-00
03-01 bit 8-11 XRXX
01-01
Terminal
Resistor
Value
1–127 CANopen Communication address
R= 0 125Kbps
R= 1 250Kbps
R= 2 500Kbps
R= 3 750Kbps
R= 4 1Mbps
B
16-142
Definition
Terminal
Resistor