C h a p t e r 1 0 C A N o p e n F u n c t i o n a n d O p e r a t i o n1 0 - 3 11010.6 Application ExampleThe AS300 Series PLC can control Delta A2 servo rotation, and monitor the actual rotation speed of the motorin real time. It does this by mapping the relevant servo drive parameters to the corresponding PDO, and readsor writes the relevant servo drive parameters through the CAN bus.1. Connectting the HardwareNote: Use a standard communication cable such as UC-DN01Z-01A / UC-DN01Z-02A / UC-CMC010-01A.and connect the terminal resistors (Delta standard terminal resistor TAP-TR01) to both ends of thenetwork when you construct the network. M of ASD-A2-xxxx-M refers to the model code and currently only the M-model servo supportsCANopen communication.2. Setting Servo Parameters: Set servo parameters as shown in the following table.Parameter Setting Explanation3-00 03 Node ID of the A2 servo is 23-01 400 CAN communication rate is 1Mbps.1-01 04 Speed mode0-17 07 Drive displays the motor rotation speed (r/min)2-10 101 Set DI1 as the signal for Servo On2-12 114 Set DI3 as the signal _SPD0 for speed selection2-13 115 Set DI4 as the signal _SPD1 for speed selection3. Setting the CANopen Baud Rate and Node ID of AS300 Series PLCThe AS300 Series PLC uses the default setting values: Node ID: 1 and baud rate: 1Mbps.You set the CANopen Node ID and baud rate for the AS300 series PLC in the CANopen Buildersoftware, as shown in the following steps.
