CANopen Introduction for C2000

1. CANopen Introductionfor C2000 Solution Center WJ John Zuo

2. Delta Products in CANopen 1 Main Products DVPCOPM-SL CP02-H2 IFD9503 CME-COP01 • CANOpenMaster Module • 127 slaves • Max. Baud Rate1M bps • Max. length1000m • Syn. / Asyn. methods • CANOpenSlave Module • Dedicated for EH2 • Max. Baud Rate1M bps • ModbusModule • Max. Baud Rate1M bps • Transformation for Canopento Modbus • For all Delta products • E series Modbus Module • Max. Baud Rate1M bps • Transformation for Canopento Modbus • Dedicated for E inverter CMC-COP01 C2000 Estandard E-C • CANopenCommun. Card • Max. Baud Rate1M bps • Dedicated for C2000， • Direct Canopen Connection • By-passMechanism • CANopeninverter • CANOpenMaster support • Direct CanOpen Connection • Max. Baud Rate 1M bps • CANopeninverter • Transformation for CANopento Modbus • Max. Baud Rate lower than 1M bps • CANopeninverter • Direct CanOpen Connection • Built-in, don’t need card • Max. Baud Rates 1M bps ASD-A2 Remarks • CANopenServo • Max. Baud Rate1M bps • Direct CanOpen connection • Built-in, don’t need card • By-PassMechanism • C2000must have the CMC-COP01for connecting CANopen, and doesn’t need transformation from CANopen • to Modbus. • E standard series must have CME-COP01 for connecting CANopen, and need transformation from CANopen • to Modbus by CME-COP01. So that is not a complete CANopen. • E-Cdedicated for CANopen realize built-in CANopen, and doesn’t need any communication card. • DVPCOPM-SLcan match DVP28SV, DVP32EH00R2-Land DVP32EH00T2-L. Other EH2 seriesdon’t • have the CANopen master and only CP02-H2, which is CANopen slave, can match them.

3. Delta Products in CANopen 2.Communication Accessories TAP-CN01 TAP-CN02 TAP-CN03 • DeviceNet/CANOpenConnector • 1master , 2slave ports • Open terminal for connecting • 121ohm terminal resistor • Switchfor changing resistor • DeviceNet/CANOpenConnector • 2master,3slave ports • Open terminal for connecting • 121ohm terminal resistor • Switch for changing resistor • DeviceNet/CANOpenConnector • 2master3slave ports • Open terminal for connecting • 121ohm terminal resistor • Switch for changing resistor TAP-CB01 TAP-CB02 TAP-CB03 TAP-CB04 • DeviceNet/CANOpenmaster line • Max. length 1000m for master • Satisfied to ODVAstandard • Thicker diameter • DeviceNet/CANOpenslave line • Max. length 39m for slave • Satisfied to ODVAstandard • Thinner diameter • CANOpenconnection line • Length is 0.5m • Dedicated for Canopen • CANOpenconnection line • Length is 1m • Dedicated for Canopen Remarks • The master and slave ports of TAP-CN are all designed by aesthetics, namely connecting by master and slave will be a aesthetic effect but there is no any difference in physical for master and slave ports. • TAP-CB01 is the master line and has a thicker diameter for ensuring longer communication length which can be up to 1000m in master artery.Besides,TAP-CB02 is the slave line and has a thinner diameter that can’t ensure a 1000m communication. So a short master artery or the application in slave artery can choose TAP-CB02 for a cheaper price. • TAP-CB03and TAP-CB04 are all for the short communication length, such as the By-Pass connection of multiple A2 or C2000. In that case, the RJ45 connectors in TAP-CB03 or CB04 are very convenient and space-saving.

4. C2000 Configuration in CANopen Network 3. The detail configuration process of C2000 in applying DSP402 control standard: CANopen network architeture Set the switch as “ON” by terminal resistor 121 ohm terminal resister

5. How to use CANopen Products 4. DVPCOPM-SL Rotary Switch Explanation Valid CANopen node number Invalid CANopen node number Baud Rate Max. Length Setting node number Setting Baud Rate Line Definition Reserved Pin Signal Explanation Shielding Reserved

6. How to use CANopen Products 5. C2000 By-Passfunction • If don’t use CANopen Mastermode, setPr09-45to 0. Then C2000can match PLC Masterto build CANopen network。

7. CANopenMapping 6. The main indexes of PDO in DS402 Protocol

8. CANopenMapping 7.6040h Control Word PDO6040his Control Wordwhich is 16unsigned integer. Different value of 6040h can cause different statuswhich causes different reflection of device such as run, stop and etc.. First, we should figure out the definition of bits belong to 6040h：

9. CANopenMapping • Bit 4-6 of 6040h would have different function under different control mode.The detailed information will be given on the back.

10. CANopenMapping 8.6041h Status Word PDO6041h is Status Wordwhich is 16 unsigned integer. Every bit of 6041h can reflect the current status of device. This is read-only index.

11. CANopenMapping 9.6060h Control Mode PDO6060h is Control Mode which is 8 signed integer.Different value of 6060h represent different control mode：

12. CANopenMapping Canopen DS402 PDOIndexes of C2000 and E-C（All from DS402 PDOIndexes）：

13. CANopenMapping • 6064h-607Ahis dedicated for C2000, not for E-C that never has Torque and Position control modes but speed mode only. • C2000 possesses speed, torque, position and Homing control modes. We can choose them by 6060h, but currently only speed control mode is O.K., and other modes are under test. • 604Fh 6050h 6051h must be set to 100ms or N times of 100ms. E.g. 100ms 200ms 300ms and etc..

14. CANopen BuilderOperation 12.PLCMaster +Driver Slave Step one: Open Canopen Builder

15. CANopen BuilderOperation Step two: Setting Communication Port

16. CANopen BuilderOperation Step three: Scanning the on-line devices

17. CANopen BuilderOperation Step four: Set PDO for slave device, double-click the slave and set PDO

18. CANopen BuilderOperation Step five: SDOSetting, e.g. INDEX=2000,SUB-INDEX=5,VALUE=4 CANopenBuilder possesses 20Words SDOwhich user can use to define parameters only one time initializing（No repeated writing or reading operation）

19. CANopen BuilderOperation Step Six: Double-click master, complete PDO mapping

20. PLCProgramming 6.1 Inverter Case E.g. if C2000 PDO mapping as follows, we can program PLC by it.

21. PLCProgramming M1002 Inverter Ready MOV H7E D6282 X0 X1 D6282 MOV H7F If X0=ON, making inverter forward Run and the frequency is 40.00HZ MOV K1200 D6283 X1 X0 If X1=ON, making inverter reverse Run and thefrequency is 30.00HZ MOV K-900 D6283 X2 X0 X1 H0 MOV D6282 If X2=ON, making inverter Stop. So write frequency to 0 and make CANopen to Power disable. MOV D6283 K0 END • CANopen set the inverter frequency based on RPM not Hz. So motorpoles must be set correctly and MCU would get the frequency by 60F/P=RPM. The case up is 4 poles for motor. • CANopenmake inverter forward or reverse by speed command polarity. If it is positive, inverter would forward. If it is negative, inverter would reverse.

22. CANopen Matters need Attention 7.3 How to determine the PDO number in the Syn. Mode N = (Syn. Period T(ms) * rate (kbs) )/250, namely among T, the total PDO amount of every slave can’t surpass N. Otherwise, it can’t realize the Syn. communication in T time. Sync Sync Sync PDO PDO PDO The Syn. Mode of CANopencan send SYNCto slave quickly, so every slave almost can get the SYNC on time. But whether PDO sending is time-consuming should depend on CANopen Baud Rate and PDO number. If we want to make slaves act on the data master send synchronously in Syn. Period time, the Baud Rate should be set 1M bps and PDO number should satisfy the formula up.

23. Thank You 23