Chapter 15 CANopen OverviewMS300 (High Speed Model)
15-14
15-3-5 DI / DO / AI / AO are controlled via CANopen
To control the DO AO of the motor drive through CANopen, follow the steps below:
1. To set the DO to be controlled, define this DO to be controlled by CANopen. For example, set
Pr. 02-13=50 to control RY1.
2. To set the AO to be controlled, define this AO to be controlled by CANopen. For example, set
Pr. 03-20=20 to control AFM.
3. To control the mapping index of CANopen. If you want to control DO, then you will need to control
Index2026-41. If you want to control AO, then you will need to control 2026-AX. If you want to set
RY1 as ON, set the bit 1 of Index 2026-41 =1, then RY1 will output 1. If you want to control AFM
output = 50.00 %, then you will need to set Index 2026-A2 =5000, then AFM will output 50 %.
Mapping table of CANopen DI DO AI AO:
DI:
Terminal Related Parameters R/W Mapping Index
MI 1 == RO 2026-01 bit 0
MI 2 == RO 2026-01 bit 1
MI 3 == RO 2026-01 bit 2
MI 4 == RO 2026-01 bit 3
MI 5 == RO 2026-01 bit 4
MI 6 == RO 2026-01 bit 5
MI 7 == RO 2026-01 bit 6
DO：
Terminal Related Parameters R/W Mapping Index
RY Pr. 02-13 = 50 RW 2026-41 bit 0 of the initial value 0x01
MO1 Pr. 02-16 = 50 RW 2026-41 bit 3 of the initial value 0x01
MO2 Pr. 02-17 = 50 RW 2026-41 bit 4 of the initial value 0x01
AI：
Terminal Related Parameters R/W Mapping Index
AVI == RO Value of 2026-61
ACI == RO Value of 2026-62
AO：
Terminal Related Parameters R/W Mapping Index
AFM Pr. 03-20 = 20 RW Value of 2026-A1
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