Delta C2000 Series User Manual page 465

Chapter 15 CANopen Overview
If you want to use DS402 standard to control the motor drive, please follow the steps below:
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. (Choose source of frequency commend from
CANopen setting.)
4. Source of torque setting is set by Pr.11-33.
CANopen setting.)
5. CANopen station setting: set Pr.09-36 (Choose source of position commend from CANopen
setting.)
6. Set DS402 as control mode: Pr09-40=1
7. 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 arise (CAdE or CANopen memory error)
as station setting is completed, press Pr.00-02=7 for reset.)
8. CANopen baud rate setting: set Pr.09.37 (CANBUS Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and50K(5))
9. Set multiple input functions to Quick Stop (it can also be enable or disable, default setting is
disable). If it is necessary to enable the function, set MI terminal to 53 in one of the following
parameter: Pr.02.01 ~Pr.02.08 or Pr.02.26 ~ Pr.02.31. (Note: This function is available in
DS402 only.)
The status of the motor drive (by following DS402 standard)
According to the DS402 definition, the motor drive is divided into 3 blocks and 9 status
as described below.
Power Disable: That means without PWM output
Power Enable: That means with PWM output
Fault: One or more than one error has occurred.
Start: Power On
Not ready to switch on: The motor drive is initiating.
Switch On Disable: When the motor drive finishes the initiation, it will be at this mode.
Ready to switch on: Warming up before running.
Switch On: The motor derive has the PWM output now, but the reference commend is not
Operate Enable: Able to control normally.
Quick Stop Active: When there is a Quick Stop request, you have to stop running the motor
drive.
effective.
(Choose source of torque commend from
15-8