Delta CFP2000 Series User Manual page 558

15-3-5 DI/ DO/ AI/ AO are controlled via 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=50 to control RY2.
2. Define the AO to be controlled by CANopen. For example, set Pr.03-23=20 to control AFM2.
3. Control the mapping index of CANopen. To control DO, use control Index2026-41. 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
MI 1
MI 2
MI 3
MI 4
MI 5
MI 6
MI 7
MI 8
MI 10
MI 11
MI 12
MI 13
MI 14
MI 15
DO：
Terminal Related Parameters
RY1 Pr.02-13 = 51
RY2 Pr.02-14 = 51
RY3 Pr.02-15 = 51
MO10/RY10 Pr.02-36 = 51
MO11/RY11 Pr.02-37 = 51
RY12 Pr.02-38 = 51
RY13 Pr.02-39 = 51
RY14 Pr.02-40 = 51
RY15 Pr.02-41 = 51
AI：
Terminal Related Parameters
AVI1
ACI
AVI2
AO：
Terminal Related Parameters
AFM1 Pr.03-20 = 21
AFM2 Pr.03-23 = 21
AFM10 Pr.14-12 = 21
AFM11 Pr.14-13 = 21
R/W
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
== RO
R/W
RW
RW
RW
RW
RW
RW
RW
RW
RW
R/W
== RO
== RO
== RO
R/W
RW
RW
RW
RW
15-13
Chapter 15 CANopen Overview│CFP2000
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
Mapping Index
2026-41 bit0
2026-41 bit1
2026-41 bit2
2026-41 bit5
2026-41 bit6
2026-41 bit7
2026-41 bit8
2026-41 bit9
2026-41 bit10
Mapping Index
Value of 2026-61
Value of 2026-62
Value of 2026-63
Mapping Index
Value of 26A0h
Value of 26A1h
Value of 26AAh
Value of 26ABh