CANopen & CANlink Communication
‑66‑
Master-Slave Configuration
1. Open AutoShop, click ""NNeeww PPrroojjeecctt"", check that ""SSeerriieess aanndd mmooddeellss"" is H5U, and
click ""OOKK"" to enter the programming interface.
2. Click
on the left, set as follows, and click ""OOKK"".
Protocol: Select CANopen.
Station No.: Select Upper computer setting. (Note that the CANopen station
number of the PLC cannot be the same as that of the AC drive.)
Baud Rate: Select Upper computer setting. (The communication baud rate must
be consistent with the baud rate of the AC drive.)
3. Configure the master and slave. Click
, and click ""AAddddCCAANN
CCoonnffiigg"".
is displayed. Double‑click ""CCAANNooppeenn
CCoonnffiigg"", and double‑click the AC drive slave in the ""CCAANNooppeenn DDeevviiccee LLiisstt"" on the
right.
4. Configure the receive PDOs and transmit PDOs of the slave. Double‑click the slave
to configure.
Receive PDO: The PDOs for writing the running frequency and control commands
are added by default.
Transmit PDO: Click Transmit PDO, and configure the PDOs according to the
following conversion rule:
Index: For groups F0 to FF, convert F in high‑order bits to 0 and then add 0x2000.
For groups A0 to AF, convert A in high‑order bits to 4 and then add 0x2000.
For groups U0 to UF, convert U in high‑order bits to 7 and then add 0x2000.
Sub‑index: For the low‑order 16 bits, convert the decimal serial number into a
hexadecimal equivalent and then add 1.
According to the conversion rule, the index corresponding to the bus voltage
address U002 is 0x2070, and the sub‑index is 03.
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