Canopen Communication Interface; Description; Canopen Control Mode Selection - Delta C2000 series User Manual

Classical field oriented control ac motor drive

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15.3 CANopen Communication Interface

There are two control modes for CANopen; Pr.09-40 set to 1 is the factory setting mode DS402

standard and Pr.09-40 set to 0 is Delta's standard setting mode.

Actually, there are two control modes according to Delta's standard, one is the old control mode

(Pr09-30=0).

This control mode can only control the motor drive under frequency control. Another mode is a new

standard (Pr09-30=1)

This new control mode allows the motor drive to be controlled under all sorts of mode.

Currently, C2000 support speed, torque, position and home mode.

The definition of relating control mode are:

Delta Standard

(Old definition)

Delta Standard

(New definition)

CANopen Control Mode

DS402 standard

Delta Standard (Old definition)

P09-40=1, P09-30=0

Delta Standard (New

P09-40=0, P09-30=1

CANopen Control Mode

DS402 standard

Delta Standard (Old definition)

P09-40=1, P09-30=0

Delta Standard (New

P09-40=0, P09-30=1

However, you can use some index regardless DS402 or Delta's standard.

For example:

1. Index which are defined as RO attributes.

2020-02 Target rotating

2060-03 Target rotating

2060-04 Torque Limit

Chapter 15 CANopen Overview C2000 Series

Control Mode

6071-00 Target Torque

2060-07 Target Torque

2060-08 Speed Limit (Hz)

Operation Control

Operation Command

Operation Command

Quick stop processing mode

Disable operation processing mode

Index Description Index Description

Canopen Communication Interface; Description; Canopen Control Mode Selection - Delta C2000 series User Manual

15.3 CANopen Communication Interface

Description

15.3.1 CANopen Control Mode Selection

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