CANopen Introduction for C2000

Solution Center WJ

John Zuo

Delta Products in CANopen

DVPCOPM-SL

CANOpen Master Module 127 slaves Max. Baud Rate1M bps Max. length 1000m Syn. / Asyn. methods

CP02-H2

CANOpen Slave Module

Dedicated for EH2 Max. Baud Rate1M bps

IFD9503

Modbus Module Max. Baud Rate1M bps Transformation for

Canopen to Modbus For all Delta products

CME-COP01

E series Modbus Module Max. Baud Rate1M bps Transformation for

Canopen to Modbus Dedicated for E inverter

CMC-COP01

CANopen Commun. Card Max. Baud Rate1M bps Dedicated for C2000 ， Direct Canopen Connection By-pass Mechanism

C2000

CANopen inverter CANOpen Master support Direct CanOpen

Connection Max. Baud Rate 1M bps

E standard

CANopen inverter Transformation for

CANopen to Modbus Max. Baud Rate lower

than 1M bps

E-C

CANopen inverter Direct CanOpen

Connection Built-in, don’t need card Max. Baud Rates 1M bps

ASD-A2

CANopen Servo Max. Baud Rate1M bps Direct CanOpen

connection Built-in, don’t need

card By-Pass Mechanism

• C2000 must have the CMC-COP01 for 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-C dedicated for CANopen realize built-in CANopen, and doesn’t need any communication card.

• DVPCOPM-SL can match DVP28SV, DVP32EH00R2-L and DVP32EH00T2-L. Other EH2 series don’t have the CANopen master and only CP02-H2, which is CANopen slave, can match them.

Remarks

1 Main Products

TAP-CN01

DeviceNet/CANOpen Connector 1 master , 2 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor

2. Communication Accessories

5.6mm 外径

TAP-CN02

DeviceNet/CANOpen Connector 2 master, 3 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor

TAP-CN03

DeviceNet/CANOpen Connector 2 master 3 slave ports Open terminal for connecting 121ohm terminal resistor Switch for changing resistor

TAP-CB01

DeviceNet/CANOpen master line Max. length 1000m for master Satisfied to ODVA standard Thicker diameter

TAP-CB03

CANOpen connection line

Length is 0.5m Dedicated for Canopen

TAP-CB04

CANOpen connection line

Length is 1m Dedicated for Canopen

TAP-CB02

DeviceNet/CANOpen slave line Max. length 39m for slave Satisfied to ODVA standard Thinner diameter

• 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-CB03 and 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.

Remarks

Delta Products in CANopen

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

4. DVPCOPM-SL

Setting node number

Setting Baud Rate

Line Definition

How to use CANopen Products

Valid CANopen node number

Invalid CANopen node number

Rotary Switch Explanation

Baud Rate Max. Length

Reserved

Pin Signal Explanation

Shielding

Reserved

5. C2000

• If don’t use CANopen Master mode, set Pr09-45 to 0. Then C2000 can match PLC Master to build CANopen network 。

By-Pass function

How to use CANopen Products

6. The main indexes of PDO in DS402 Protocol

Index Sub. Index name Length R/W Remark

6040h 0 Control Word 16 Unsigned Integer R/W Control current status, such as Run, Stop and etc..

6041h 0 Status Word 16 Unsigned Integer RO Read current status, such as Run, Stop and etc..

6060h 0 Control Mode 8 Signed Integer R/W Choose contorl mode, such as Speed, Position and Torque.

6042h 0 Speed Com. in Speed Mode 16 Signed Integer R/W Speed command in the speed mode.

60FFh 0 Servo Speed Com. In Speed Mode 32 Signed Integer R/W Servo speed command in the speed control mode.

6081h 0 Pulse speed Com. in Pos. Mode 32 Unsigned Integer R/W Speed of Pulse sending in the Position control mode.

6071h 0 Torque Com. in Torque Mode 16 Signed Integer R/W Torque command in the Torque control mode.

607Ah 0 Position Com. in Pos. Mode 32 Signed Integer R/W Position command in the Position control mode.

604Fh 0 Acc. Time in Speed Mode 32 Unsigned Integer R/WCan’t be set to 0

Unit is 100msDetailed information please refer to the back

6050h 0 Dec. Time in Speed Mode 32 Unsigned Integer R/W

6051h 0 Quickstop Dec. Time in Speed Mode 32 Unsigned Integer R/W

6083h 0 ACC. Time in Pos./Speed Mode 32 Unsigned Integer R/W Can’t be set to 0 and Unit is 1msDetailed Information is in the Page 25

6084h 0 Dec. Time in Pos./Speed Mode 32 Unsigned Integer R/W

605Ah 0 Quickstop Mode 16 Signed Integer R/W The options when QUICKSTOP happened.

605Ch 0 Deceleration Mode 16 Signed Integer R/W The options for stop deceleration.

6093h 1 Numerator of Electric Gear Box 32 Unsigned Integer R/W Numerator of Electric Gear Box in Position Control mode.

2 Denominator of Electric Gear Box 32 Unsigned Integer R/W Denominator of Electric Gear Box in Position Control mode.

CANopen Mapping

7. 6040h Control WordPDO 6040h is Control Word which is 16 unsigned integer. Different value of 6040h can cause different status which causes different reflection of device such as run, stop and etc.. First, we should figure out the definition of bits belong to 6040h ：

CANopen Mapping

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

CANopen Mapping

8. 6041h Status Word

PDO 6041h is Status Word which is 16 unsigned integer. Every bit of 6041h can reflect the current status of device. This is read-only index.

CANopen Mapping

9. 6060h Control ModePDO 6060h is Control Mode which is 8 signed integer. Different value of 6060h represent different control mode ：

CANopen Mapping

Canopen DS402 PDO Indexes of C2000 and E-C （ All from DS402 PDO Indexes ）：

CANopen Mapping

• 6064h-607Ah is 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..

CANopen Mapping

CANopen Builder Operation12. PLC Master + Driver Slave

Step one: Open Canopen Builder

Step two: Setting Communication Port

CANopen Builder Operation

Step three: Scanning the on-line devices

CANopen Builder Operation

Step four: Set PDO for slave device, double-click the slave and set PDO

CANopen Builder Operation

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

CANopen Builder Operation

Step Six: Double-click master, complete PDO mapping

CANopen Builder Operation

PLC Programming6.1 Inverter Case

E.g. if C2000 PDO mapping as follows, we can program PLC by it.

MOV

MOV

H7F

K-900

D6282

D6283

X0

MOV

MOV

K1200

H0

D6283

D6282

X1

X0X1

END

If X0=ON, making inverter forwardRun and the frequency is 40.00HZ

If X2=ON, making inverter Stop. So write frequency to 0 and make CANopen to Power disable.

MOV H7E D6282M1002

X0X2 X1

MOV K0 D6283

If X1=ON, making inverter reverse Run and the frequency is 30.00HZ

Inverter Ready

• CANopen set the inverter frequency based on RPM not Hz. So motor poles must be set correctly and MCU would get the frequency by 60F/P=RPM. The case up is 4 poles for motor.

• CANopen make inverter forward or reverse by speed command polarity. If it is positive, inverter would forward. If it is negative, inverter would reverse.

PLC Programming

Sync Sync Sync

PDO PDO PDO

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.

The Syn. Mode of CANopen can send SYNC to 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.

7.3 How to determine the PDO number in the Syn. Mode

CANopen Matters need Attention

Thank You

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