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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 driver.dvp
Example:
CFP2000 driver 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 driver is used, the blank internal PLC program will cause a PLFF
warning code to be issued).
Step 2: Master memory correspondences
Enable WPL
Use keypad set PLC mode as Stop (PLC 2)
WPL read D1070 to D1099, D2000 to D2799
Set D2000=10 D2100=11
Set D2100 2200 2300 2400 2500 2600 2700=0
Download D2000 to D2799 settings
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 as 1M (Pr.09-37=0); regardless of whether
the driver 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 complete;
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 complete;
M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has occurred.
Chapter 16 PLC Function Applications│CFP2000
16-141
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