Chapter 15 CANopen OverviewMS300
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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:
1. Define the DO to be controlled by CANopen. For example, set Pr.02-13 = 50 to control RY1.
2. Define the AO to be controlled by CANopen. For example, set Pr.03-20 = 20 to control AFM.
3. Control the Index mapped by CANopen. To control DO, use control Index 2026-41. To control
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 / DO / AI / AO:
DI:
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