Canopen Communication Interface Description - Delta C2000 Series User Manual

15-3 CANopen Communication Interface Descriptions
15-3-1 CANopen Control Mode Selection
There are two control modes for CANopen: the DS402 standard (Pr. 09-40 set to 1) is the default,
and the Delta's standard setting (Pr. 09-40 set to 0). There are two control modes according to
Delta's standard. One is the old control mode (Pr. 09-30 = 0); this control mode can only control the
motor drive under frequency control. The other mode is a new standard (Pr. 09-30 = 1); this new
control mode allows the motor drive to be controlled under multiple modes. The C2000 currently
supports speed, torque, position and home mode. The following table shows the control mode
definitions:
CANopen
Control
Mode
Selection
DS402
standard
Pr. 09-40=1
Delta Standard
(Old definition)
Pr. 09-40=1,
Pr. 09-30=0
Delta Standard
(New definition)
Pr. 09-40=0,
Pr. 09-30=1
CANopen Control Mode
Selection
DS402 standard
Pr. 09-40=1
Delta Standard (Old definition)
Pr. 09-40=1, Pr. 09-30=0
Delta Standard (New definition)
Pr. 09-40=0, Pr. 09-30=1
CANopen Control Mode
Selection
DS402 standard
Pr. 09-40=1
Delta Standard (Old definition)
Pr. 09-40=1, Pr. 09-30=0
Delta Standard (New definition)
Pr. 09-40=0, Pr. 09-30=1
You can use some indices in either DS402 or Delta's standard.
For example:
1. Indices that are defined as RO attributes.
2. The corresponding index of available parameter groups: (2000-00–200B-XX)
3. Accelerating / Decelerating Index: 604F 6050
Speed
Index Description
Target
6042-00 Rotating
Speed (RPM)
----- -----
Target
2020-02 Rotating
Speed (Hz)
Target
2060-03 Rotating
Speed (Hz)
Torque Limit
2060-04
(%)
Control Mode
Torque
Index Description
Target Torque
6071-00
(%)
Max. Torque
6072-00
Limit (%)
----- -----
Target Torque
2060-07
(%)
2060-08 Speed Limit (Hz)
Operation Control
Index
6040-00
-----
2020-01
2060-01
-----
Index
605A-00
605C-00 Disable operation processing mode
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15-7
Chapter 15 CANopen Overview C2000
Position
Index Description Index Description
Target
607A-00 -----
Position
----- ----- -----
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Target
2060-05 -----
Position
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Description
Operation Command
-----
Operation Command
Operation Command
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Other
Description
Quick stop processing mode
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Home
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