Delta C2000 Series User Manual page 464

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:
CANopen
Control
Mode
Index
Selection
DS402 6042-00
standard
Pr. 09-40=1
-----
Delta Standard 2020-02 Target rotating
(Old definition)
P09-40=1,
P09-30=0
Delta Standard 2060-03 Target rotating
(New definition)
P09-40=0,
2060-04 Torque Limit
P09-30=1
CANopen Control Mode
Selection
DS402 standard
Pr. 09-40=1
Delta Standard (Old definition)
P09-40=1, P09-30=0
Delta Standard (New
definition)
P09-40=0, P09-30=1
CANopen Control Mode
Selection
DS402 standard
Pr. 09-40=1
Delta Standard (Old definition)
P09-40=1, P09-30=0
Delta Standard (New definition)
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.
2. Index correspond to parameters such as (2000 ~200B-XX)
3. Accelerating/Decelerating Index: 604F 6050
Speed
Description Index
Target 6071-00 Target Torque
rotating
speed
(RPM)
----- 6072-00
-----
speed (Hz)
2060-07 Target Torque
speed (Hz)
2060-08 Speed Limit (Hz)
(%)
Operation Control
Index
6040-00
-----
2020-01
2060-01
-----
Index
605A-00
605C-00
-----
-----
-----
15-7
Chapter 15 CANopen Overview
Control Mode
Torque Position
Description Index Description Index Description
607A-00
(%)
Max. Torque -----
Limit(%)
----- -----
2060-05
(%)
-----
Description
Operation Command
-----
Operation Command
Operation Command
-----
Other
Description
Quick stop processing mode
Disable operation processing mode
-----
-----
-----
Home
Target ----- -----
Position
----- ----- -----
----- ----- -----
Target ----- -----
Position
----- ----- -----