How To Control By Canopen; Canopen Control Mode Selection; Delta Defined Control Mode; Ds402 Standard Control Mode - Delta C2000 series User Manual

15.3 How to Control by CANopen

15.3.1 CANopen Control Mode Selection

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.

15.3.2 Delta Defined Control Mode

There are two control modes.
1. Wiring for hardware (refer to chapter 15-2 Wiring for CANopen)
2. Operation source setting: set Pr.00-21 to 3 for CANopen communication card control.
3. Frequency source setting: set Pr.00.20 to 6 (CANopen setting. If torque control or position
control is required, set Pr.0.02 to 2. Also set Pr.09.30 to 1(default setting) to allow new address
60XX to function, the old address 20XX can not support the control function for position and
torque.
4. Source of torque setting is set by Pr.11-33.
5. CANopen station setting: set Pr.09-36 (Range of setting is 1~127. When Pr.09-36=0, CANopen
slave function is disabled. ) (Note: If error occurred (CAdE or CANopen memory error) as station
setting is completed, press Pr.00-02=7 for reset.)
6. CANopen baud rate setting: set Pr.09.37 (CANopen Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and 50K(5))
7. CANopen decode method setting: set Pr.09.40 to 0 (Delta decoding method). It provides two
decoding method by using Pr.09-30 and the default setting of the drive is in decoding method 2
(Pr.09-30=1).
8. Decoding method 1. In index 2020.01 enter 0002H for motor run; 0001H for motor stop. In index
2020.02 enter 1000, frequency will be 10.00Hz. Refer to Index 2020 and 2021 for more detail.
9. Decoding method 2. In index 2060.01 enter 0080H for motor switch on; enter 0x81 for motor run
to the target frequency. Various control mode options are available in Pr.00-40, select your
control mode.

15.3.3 DS402 Standard Control Mode

To control the AC motor drive by CANopen, please set the parameters by the following steps:
1. Wiring for hardware (refer to Chapter 2 Wiring for CANopen)
2. Operation source setting: set Pr.00.21 to 3 (CANopen communication. Keypad STOP/RESET
disabled.)
3. Frequency source setting: set Pr.02.00 to 6 for CANopen communication card control. For
CANopen to do torque control, set Pr.11-33 to 3; to do position control, set Pr.11-40 to 3. Also
set Pr.09-30 to 1 (decoding method 2), use new address 60XX to control torque and position.
The old address 20XX does not support torque and position control.
4. Source of torque setting is set by Pr.11-33.
5. CANopen station setting: set Pr.09-36 (Range of setting is 1~127. When Pr.09-36=0, CANopen
slave function is disabled. ) (Note: If error occurred (CAdE or CANopen memory error) as station
Chapter 15 CANopen Overview |C2000 Series
15-9