Настройка CANopen Master Remote I/O для Delta VFD-C2000 (EN)

Produc ct Solutions A nnouncement - 1 - Product AMD Type VFD-C2000 Security Level 5General High Top No. N/A Issued by SC Author John Zuo Release Date 5th July, 2012 CanOpen Master Remote IO Function for C2000 Devices and tools: Inverter：VFD007C23A, 2PCS （Firmware V9.020 D12272） C2000 Optional Card: EMC-PG01U (2PCS) EMC-COP01(2PCS) PM motor：ECMA-C30602ES 2PCS Operation Steps: 1. Setting necessary Parameters for C2000+PM motor with PG01U. (Please kindly refer to the announcements related to C2000+PM with PG01U) 2. Set 00-02=6 to reset the program of PLC inside C2000 (Both C2000). 3. Set 00-02=7 to reset the CanOpen Configuration for Both C2000. 4.

Set the necessary Parameters for C2000 CanOpen Master: Parameters Descriptions Value 09-37 CanOpen Speed 0 (1M) 09-45 CanOpen Master Function 1 (enabled) 09-46 CanOpen Master Address 100 (Default) Besides： z please go to PLC mode for master. z After the procedures above, please repower the master C2000. 5. Set the necessary Parameters for C2000 CanOpen slave: Parameters Descriptions Value Parameters Descriptions Value 09-37 CanOpen Speed 0 (1M) 09-45 CanOpen Master Function 1 (enabled) 09-46 CanOpen Master Address 100 (Default) Parameters Descriptions Value

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6. Wiring C2000 Master and Slave together based on EMC-COP01. 7. Understanding the CanOpen Master Slave Special Auxiliary Relays M. Besides, there are many Special Registers for CanOpen Master. There is a very clear explanation in our C2000 manual. The ones from D1070~D1099 and D2000~D2799 must be set correctly, otherwise, the CanOpen Master can’t be fulfilled. Some key Registers can be introduced here:

Product Solutions Announcement - 2 - 00-20 Source of the Master Frequency Command 6 (for Canopen) 00-21 Source of the Operation Command 3 (for Canopen) 02-13 Output Relay 1 50(for CanOpen) 03-20 Multi-function output 1(AFM1) 20(for CanOpen) 03-23 Multi-function output 2(AFM2) 20(for CanOpen) 09-36 CanOpen Slave Address 1 09-37 CanOpen Speed 0 (1M) 09-40 CanOpen Decoding Method 1 (for DS402) Relays Descriptions M1034 Enable CanOpen Real Time Control M1059 CanOpen Master Setting Complete M1060 Initializing CanOpen Slave M1061 Initializing CanOpen Slave Failed Registers Descriptions Remarks D1090 Synchronous cycle setting D1090>=(1M/Rate)*(N/4)A

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A. Rate is the value you set in 09-37, and N is the PDO number in your loop. B. Channel one is D2000~D2099, Channel two is D2100~D2199……. Channel eight is D2700~D2799. C. D2034+n*100 is for eight channels TXPDO Transmission Setting. D2067+n*100 is for eight channels RXPDO Transmission Setting. They all abide by the structure as below, and the En is for enable the mode you choosing, the number is the PDO Index number (e.g. 6040H 607AH….). The difference is D2034+n*100 is to regard the TXPDO as targets, but D2067+n*100 is to regard the RXPDO as targets. And the detailed indexes information for PDO1 ~ PDO4 as follows:

Product Solutions Announcement - 3 - D1091 The station for initialization during Initializing process Bit0~7 is the mapping for 1~8 ChannelB D2034 Transmission setting of slave No. n=0 For TXPDO Transmission SettingC D2067 Transmission setting of slave No. n=0 For RXPDO Transmission SettingC TXPDO PDO4 (Torque Mode) PDO3 (Position Mode) PDO2 (Remote I/O) PDO1 (Speed Mode) Description Special D Description Special D Description Special D Description Special D Control Word D2008+n100 Control Word D2008+n100 Slave MO D2027+n100 Control Word D2008+n100 Tor. Target D2017+n100 Pos. Target D2020+n100 D2021+n100 Slave AO1 D2031+n100 Freq. Com.

D2012+n100 Control Mode D2010+n100 Control Mode D2010+n100 Slave AO2 D2032+n100 RXPDO PDO4 (Torque Mode) PDO3 (Position Mode) PDO2 (Remote I/O) PDO1 (Speed Mode) Description Special D Description Special D Description Special D Description Special D Status Word D2009+n100 Status Word D2009+n100 Slave MI D2026+n100 Status Word D2009+n100 Rel. Torque D2018+n100 Rel. Position D2022+n100 D2023+n100 Slave AI1 D2028+n100 Freq. Com. D2013+n100 Rel. Mode D2011+n100 Rel. Mode D2011+n100 Slave AI2 D2029+n100 Slave AI3 D2030+n100

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8. Programming C2000 CanOpen Master PLC. z Choose Communication—Edit Register Memory(T,C,D) in WPLSoft. z Click Transmit, and choose D1070~D1099 D2000~D2799, and click the “Read from PLC Device Register” for reading the D1070~D1099 D2000~D2799 from Current PLC. z When Reading complete, don’t change the value of D1070~D1099 which are very less something to do with application setting. But D2000~D2799 should be set carefully based on your CanOpen Configuration. In this case, CanOpen Slave address is 1 and I choose D2000~D2099 as the operation registers. So I set D1090=8, D1091=1(Bit 0=1 for D2000~D2099), D2034=BAH (Speed mode +Remote IO mode), D2067=CAH(Speed mode +Remote IO mode).

Please use “Edit Register Memory” to set these D since they are configurations, and other D can be set in your program. Product Solutions Announcement - 4 -

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