Delta C2000 Series User Manual page 471

Chapter 15 CANopen Overview
15-3-3-1 Various mode control method (by following DS402 standard)
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.)
Set
Delta Standard (Old definition, only support speed mode)
09-30 = 0.
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 arised (CAdE or CANopen memory error) as station
setting is completed, press Pr.00-02=7 for reset.)
5. CANopen baud rate setting: set Pr.09.37 (CANBUS Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and50K(5))
15-3-3-2 By speed mode
1. Set the target frequency: Set 2020-02, the unit is Hz, with a number of 2 decimal places. For
example 1000 is 10.00.
2. Operation control: Set 2020-01 = 0002H for Running, and set 2020-01 = 0001H for Stopping.
as control mode: Pr. 09-40 = 0 and
15-14