Chapter 16 PLC Function ApplicationsC2000 Plus
16-144
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 (Pr. 09-37); regardless of whether the drive 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
completed; 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
completed; M1067 will be 1 if writing is successful, and M1067 will be 0 if an error has
occurred.
Refresh command: Use CANFLS command to refresh (if there are RW attributes, the
master will write to the slave station; if there are RO attributes, the slave station will return
the read values to the master); M1066 will be 1 if refresh has been completed; M1067 will
be 1 if refresh is successful, and M1067 will be 0 if an error has occurred.
NOTE:
When using CANRX, CANTX or CANFLS, internal implementation commands will wait until M1066 is
completed before executing the next CANRX, CANTX or CANFLS.
Afterwards, download program to the drive (Please note that the PLC's default communications format
is ASCII 7N2 9600, and the station number is 2. The WPL must therefore be modified, and the WPL
setting pathway is settings > communications settings)
Step 5: Set the slave stations' station numbers, communications speed, control source, and
command source
Delta's C2000 Plus and EC series devices currently support the CANopen communications
interface drive, and the corresponding slave station numbers and communications speed
parameters are as follows:
Corresponding device parameters
Value Definition
C2000 Plus E-C
Slave station address 09-36 09-20
0 Disable CANopen hardware interface
1–127 CANopen Communication address
Communication speed 09-37 09-21
0 1Mbps
1 500Kbps
2 250Kbps
3 125Kbps
4 100Kbps
5 50Kbps
Control source
00-21 - 3
- 02-01 5
Frequency source
00-20 - 6
- 02-00 5
Torque source
11-33 - 3
- - -
Position source
11-40 - 3
- - -
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