CANopen and CANlink Communication
‑57‑
Master and Slave Configuration
1. Run AutoShop. On the page displayed, click ""NNeeww PPrroojjeecctt"", confirm that the value
in the ""SSeerriieess aanndd mmooddeellss"" field is H5U, and then click ""OOKK"".
2. On the left of the page displayed, click
to enter the CANopen
communication settings page of PLC, set the parameters as follows, and then click
""OOKK"".
Protocol: CANopen
Communicate Param: Upon computer setting (the CANopen station number of PLC
must not be the same as that of the AC drive)
Baud Rate: Upon computer setting (the baud rate of CAN communication for PLC
initialization must be the same as that of the AC drive)
3. Configure the master and slave stations: Click
. Click ""AAdddd CCAANN
CCoonnffiigg"", and
is displayed. Double‑click ""CCAANNooppeenn
CCoonnffiigg"". In the ""CCAANNooppeenn DDeevviiccee LLiisstt"" on the right of the page displayed, double‑
click the drive unit slave station of the AC drive and add it to the configuration.
4. Configure the TPRO and RPDO of the slave station. Double‑click the slave station to
be configured.
RPDO: The PDO used to write the operation frequency and control command is
added by default.
TPDO: The default mapping is displayed after you click Send PDO.
Index: Groups F0 to FF: Convert the high bit F to 0 and then add 0X2000.
Groups A0 to AF: Convert the high bit A to 4 and then add 0X2000.
Groups U0 to UF: Convert the high bit U to 7 and then add 0X2000.
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