Delta CFP2000 Series User Manual page 707

Chapter 16 PLC Function Applications│CFP2000
Special D
The second area is for basic CANopen settings: (the PLC must have
this area is used to make settings)
We must set the information exchange time for the master and slave station,
Use D1090 to perform settings; setting time relationships include:
For instance, when communications speed is 500Kbps, TXPDO + RXPDO have 8 sets,
and synchronizing time will require more than 4 ms
We must also define how many slave stations will be open. D1091 is the channel for
defining station opening, and D2000+100*n is the station number defining this channel. See the
detailed explanation below.
Slave station number n=0-7
D2000+100*n Slave station number
D1073 CANopen break channel (bit0=Machine code0 .......)
Error code of master error
0: No error
D1074
1: Slave station setting error
2: Synchronizing cycle setting error (too small)
D1075 Reserved
D1076 SDO error message (main index value)
D1077 SDO error message (secondary index value)
D1078 SDO error message (error code L)
D1079 SDO error message (error code H)
Special D
D1090 Synchronizing cycle setting
Special D
Sets slave station On or Off (bit0–bit 7 correspond to
D1091
slave stations number 0–7)
Description of Function
Description of Function
Description of Function
16-134
R/W
R
R
-
R
R
R
R
stopped
Default: R/W
4 RW
R/W
RW
RW
when