Delta Electronics VFD037CH23A-21 [438/638] 3 5 di do ai ao are controlled via canopen

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Chapter 15 CANopen Overview C2000 Series

15-19

15-3-5 DI/DO AI AO are controlled via CANopen

To control the DO AO of the motor drive through CANopen, follow the steps below:

1. To set the DO to be controlled, define this DO to be controlled by CANopen. For example, set

Pr02-14 to control RY2.

2. To set the DO to be controlled, define this AO to be controlled by CANopen. For example, set

Pr03-23 to control AFM2.

3. To control the mapping index of CANopen. If you want to control DO, then you will need to control

Index2026-41. If you want to control AO, then you will need to control 2026-AX. If you want to set

RY2 as ON, set the bit 1 of Index 2026-41 =1, then RY2 will output 1. If you want to control AFM2

output = 50.00%, then you will need to set Index 2026-A2 =5000, then AFM2 will output 50%.

Mapping table of CANopen DI DO AI AO:

DI:

Terminal Related Parameters R/W Mapping Index

FWD == RO 2026-01 bit 0

REV == RO 2026-01 bit 1

MI 1 == RO 2026-01 bit 2

MI 2 == RO 2026-01 bit 3

MI 3 == RO 2026-01 bit 4

MI 4 == RO 2026-01 bit 5

MI 5 == RO 2026-01 bit 6

MI 6 == RO 2026-01 bit 7

MI 7 == RO 2026-01 bit 8

MI 8 == RO 2026-01 bit 9

MI 10 == RO 2026-01 bit 10

MI 11 == RO 2026-01 bit 11

MI 12 == RO 2026-01 bit 12

MI 13 == RO 2026-01 bit 13

MI 14 == RO 2026-01 bit 14

MI 15 == RO 2026-01 bit 15

DO：

Terminal Related Parameters R/W Mapping Index

RY1 P2-13 = 50 RW 2026-41 bit 0

P2-14 = 50 RW 2026-41 bit 1

RY2

P2-15 = 50 RW 2026-41 bit 2

MO1 P2-16 = 50 RW 2026-41 bit 3

MO2 P2-17 = 50 RW 2026-41 bit 4

MO3 P2-18 = 50 RW 2026-41 bit 5

MO4 P2-19 = 50 RW 2026-41 bit 6