E.2 How To Control By Canopen - Delta Electronics AC Motor Drive VFD-E User Manual

Index Sub
0x605A 0
0x6060 0
0x6061 0

E.2 How to Control by CANopen

To control the AC motor drive by CANopen, please set parameters by the following steps:
Step 1. Operation source setting: set Pr.02.01 to 5 (CANopen communication. Keypad
STOP/RESET disabled.)
Step 2. Frequency source setting: set Pr.02.00 to 5 (CANopen communication)
Step 3. CANopen station setting: set Pr.09.13 (CANopen Communication Address 1-127)
Step 4. CANopen baud rate setting: set Pr.09.14 (CANBUS Baud Rate)
Step 5. Set multiple input function to quick stop when necessary: Set Pr.04.05 to 04.08 or Pr.11.06 to
11.11 to 23.
According to DSP-402 motion control rule, CANopen provides speed control mode. There are many
status can be switched during Start to Quick Stop. To get current status, please read "Status Word".
Status is switched by the PDO index control word via external terminals.
Control word is a 16-byte in index 0x6040 and each bit has specific definition. The status bits are bit
4 to bit 6 as shown in the following:
Bit 4: ramp function enabled
Bit 5: ramp function disabled
Bit 6: rfg use reference
Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11
Factory
Definition
Setting
Quick stop option
code
Mode of
operation
Mode of
operation display
Appendix D How to Use PLC Function|
RW Size Unit Map
2 RW S16 1ms Yes
2 RO U8
2 RO U8
NOTE
0 : disable drive function
1 :slow down on slow down
ramp
2: slow down on quick stop
ramp (2th decel. time)
5 slow down on slow down
ramp and stay in QUICK
STOP
6 slow down on quick stop
ramp and stay in QUICK
STOP
Yes Speed mode
Yes
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