Canopen Communication Interface Description - Delta VFD300C43S-HS 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-HS 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
(%)
Chapter 15 CANopen Overview C2000-HS
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
Position
Index Description Index Description
Target
607A-00 -----
Position
----- ----- -----
----- ----- -----
Target
2060-05 -----
Position
----- ----- -----
Description
Operation Command
-----
Operation Command
Operation Command
-----
Other
Description
Quick stop processing mode
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Home
-----
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