Chapter 16 PLC Function ApplicationsC2000
16-132
16- 8 CANopen Master control applications
Control of a simple multi-axis application is required in certain situations. If the device supports the
CANopen protocol, a C2000 can serve as the master in implementing simple control (position, speed,
homing, and torque control). The setting method comprises the following seven step
s:
Step 1: Activating CANopen Master functions
1. Pr. 09-45=1 (initiates Master functions); restart power after completing setting, the status
bar on the KPC-CC01 digit
al keypad will disp
lay "CAN Master".
2.
Pr. 00-02=6 reset PLC (please note that this action will reset the program and PLC
registers
to the default values)
3.
Turn power off and on a
gain.
4. Use the KPC-CC01 digital keypad to set the PLC control mode as "PLC Stop" (if a
newly-introduced drive is used, the
blank internal PLC program
will cause a PLFF warning
code to be issued).
Step 2: Master memory settings
1. After connecting the 485 communications cable, use WPL Soft to set the PLC status as
S
top (if the PLC mode has been switched to the "PLC Stop" mode, the PLC status
should
already be S
t
op)
2.
Set the address and corresponding station number of the slave station to be controlle
d. For
inst
ance, if it is wished to control two slave stations (a maximum of 8 sta
tions can be
controlled
simultaneously), and the station numbers are 21 and 22, it is only necessa
ry to
set D2000 and D2100 as 20 and 21,
and then set D2200, D2300, D2
400, D2500, D2600,
and D2700 as 0.
The setting method involves use of the PLC's WPL editing software WPL
as follows:
Open WPL and implement communications > register edit (T C D) function
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