1. CANopen Introduction for C2000
Solution Center WJ
John Zuo

2. Delta Products in CANopen
1 Main Products
DVPCOPM-SL
CP02-H2
IFD9503
CME-COP01
CANOpen Master Module
127 slaves
Max. Baud Rate1M bps
Max. length 1000m
Syn. / Asyn. methods
CANOpen Slave Module
Dedicated for EH2
Max. Baud Rate1M bps
Modbus Module
Max. Baud Rate1M bps
Transformation for Canopen to Modbus
For all Delta products
E series Modbus Module
Max. Baud Rate1M bps
Transformation for Canopen to Modbus
Dedicated for E inverter
CMC-COP01
C2000
E standard
E-C
CANopen Commun. Card
Max. Baud Rate1M bps
Dedicated for C2000，
Direct Canopen Connection
By-pass Mechanism
CANopen inverter
CANOpen Master support
Direct CanOpen Connection
Max. Baud Rate 1M bps
CANopen inverter
Transformation for CANopen to Modbus
Max. Baud Rate lower than 1M bps
CANopen inverter
Direct CanOpen Connection
Built-in, don’t need card
Max. Baud Rates 1M bps
ASD-A2
Remarks
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.

3. Delta Products in CANopen
2. Communication Accessories
TAP-CN01
TAP-CN02
TAP-CN03
DeviceNet/CANOpen Connector
1 master , 2 slave ports
Open terminal for connecting
121ohm terminal resistor
Switch for changing resistor
DeviceNet/CANOpen Connector
2 master, 3 slave ports
Open terminal for connecting
121ohm terminal resistor
Switch for changing resistor
DeviceNet/CANOpen Connector
2 master 3 slave ports
Open terminal for connecting
121ohm terminal resistor
Switch for changing resistor
TAP-CB01
TAP-CB02
TAP-CB03
TAP-CB04
DeviceNet/CANOpen master line
Max. length 1000m for master
Satisfied to ODVA standard
Thicker diameter
DeviceNet/CANOpen slave line
Max. length 39m for slave
Satisfied to ODVA standard
Thinner diameter
CANOpen connection line
Length is 0.5m
Dedicated for Canopen
CANOpen connection 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-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.

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

7. CANopen Mapping 6. The main indexes of PDO in DS402 Protocol Index
Sub.
Index name
Length
R/W
Remark
6040h
Control Word
16 Unsigned Integer
Control current status, such as Run, Stop and etc..
6041h
Status Word RO
Read current status, such as Run, Stop and etc..
6060h
Control Mode
8 Signed Integer
Choose contorl mode, such as Speed, Position and Torque.
6042h
Speed Com. in Speed Mode
16 Signed Integer
Speed command in the speed mode.
60FFh
Servo Speed Com. In Speed Mode
32 Signed Integer
Servo speed command in the speed control mode.
6081h
Pulse speed Com. in Pos. Mode
32 Unsigned Integer
Speed of Pulse sending in the Position control mode.
6071h
Torque Com. in Torque Mode
Torque command in the Torque control mode.
607Ah
Position Com. in Pos. Mode
Position command in the Position control mode.
604Fh
Acc. Time in Speed Mode
Can’t be set to 0
Unit is 100ms
Detailed information please refer to the back
6050h
Dec. Time in Speed Mode
6051h
Quickstop Dec. Time in Speed Mode
6083h
ACC. Time in Pos./Speed Mode
Can’t be set to 0 and Unit is 1ms
Detailed Information is in the Page 25
6084h
Dec. Time in Pos./Speed Mode
605Ah
Quickstop Mode
The options when QUICKSTOP happened.
605Ch
Deceleration Mode
The options for stop deceleration.
6093h 1
Numerator of Electric Gear Box
Numerator of Electric Gear Box in Position Control mode. 2
Denominator of Electric Gear Box
Denominator of Electric Gear Box in Position Control mode.

8. CANopen Mapping 7. 6040h Control Word
PDO 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：

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

10. 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.

11. CANopen Mapping 9. 6060h Control Mode
PDO 6060h is Control Mode which is 8 signed integer. Different value of 6060h represent different control mode：

12. CANopen Mapping
Canopen DS402 PDO Indexes of C2000 and E-C（All from DS402 PDO Indexes）：

13. 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 h, 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 Builder Operation
12. PLC Master + Driver Slave
Step one: Open Canopen Builder

15. CANopen Builder Operation
Step two: Setting Communication Port

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

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

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

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

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

21. PLC Programming M1002 MOV H7E D6282 Inverter Ready X0 X1 MOV H7F D6282
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 the frequency is 30.00HZ
MOV
K-900
D6283 X2 X0 X1
MOV H0
D6282
If X2=ON, making inverter Stop.
So write frequency to 0 and make
CANopen to Power disable.
MOV K0
D6283
END
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.

22. CANopen Matters need Attention
7.3 How to determine the PDO number in the Syn. Mode
Sync
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.

23. Thank You 23