Delta MS300 Series User Manual page 654

15-3-5 Control DI / DO / AI / AO through CANopen
To control the DO and AO of the motor drive through CANopen, follow these steps:
Define the DO to be controlled by CANopen. For example, set Pr.02-13 = 50 to control RY1.
1.
Define the AO to be controlled by CANopen. For example, set Pr.03-20 = 20 to control AFM.
2.
Control the Index mapped by CANopen. To control DO, use control Index 2026-41. To control
3.
AO, use control 2026-A1. To set RY1 as ON, set bit 0 of Index 2026-41 = 1, then RY1 outputs 1.
To control AFM output = 50.00%, set Index 2026-A1 = 5000, then AFM outputs 50%.
The following table shows the mapping of CANopen DI
DI:
Terminal Related Parameters
MI 1
MI 2
MI 3
MI 4
MI 5
MI 6
MI 7
DO:
Terminal Related Parameters
RY Pr.02-13 = 50
MO1 Pr.02-16 = 50
MO2 Pr.02-17 = 50
AI:
Terminal Related Parameters
AVI
ACI
AO:
Terminal Related Parameters
AFM Pr.03-20 = 20
R/W
== RO
== RO
== RO
== RO
== RO
== RO
== RO
R/W
RW
RW
RW
R/W
== RO
== RO
R/W
RW
Chapter 15 CANopen OverviewMS300
/ / /
DO AI AO:
Mapping Index
2026-01 bit 0
2026-01 bit 1
2026-01 bit 2
2026-01 bit 3
2026-01 bit 4
2026-01 bit 5
2026-01 bit 6
Mapping Index
bit 0 of 2026-41 initial value 0x01
bit 3 of 2026-41 initial value 0x01
bit 4 of 2026-41 initial value 0x01
Mapping Index
Value of 2026-61
Value of 2026-62
Mapping Index
Value of 2026-A1
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