Beifu PLC controls servo through CANopen communication

about Motec Servo controller , Can pass CANopen And the way of Beifu TwinCAT3 System communication , Convenient configuration , Flexible to modify

1. Software and hardware version
   1.1. Biff Beckhoff
   1.1.1. Controller hardware
   TwinCAT3 The notebook
   Win10 64bit
   CX2020 win7
   1.1.2. Control software
   TwinCAT 3.1 Build 4024.0
   EL6751 Master station module
   1.2. Motec servo
   1.2.1. CANopen Interface
   And Motec Servo pass EL6751 Master station module communication
   1.2.2. Beckhoff Communication mode
   CANopen Master station communication
2. preparation
   2.1. Network wiring
   Use RJ45 Connect CX2020 With a notebook , Use CANopen attachment EL6751 And Motec Servo wiring is as follows ：
   
   Need configuration 120Ω Terminal resistance of

2.2. Set up notebook and CX controller IP Address

Set to automatic acquisition
3. Operation steps
3.1. add to Motec servo EDS file

3.2. Scan hardware
Scan hardware , Select communication baud rate , The default is 500k