Delta CT2000 Series User Manual page 413

Chapter 15 CANopen Overview CT2000 Series
15.3 CANopen Communication Interface
Description
15.3.1 CANopen Control Mode Selection
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
Selection
DS402
standard
Pr. 09-40=1
Delta Standard
(Old definition)
P09-40=0,
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=0, 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=0, P09-30=0
Delta Standard (New
definition)
P09-40=0, P09-30=1
Speed
Index Description
6042-00 Target
rotating
speed
(RPM)
----- -----
2020-02 Target rotating
speed (Hz)
2060-03 Target rotating
speed (Hz)
2060-04 Torque Limit
(%)
Index
6040-00
-----
2020-01
2060-01
-----
Index
605A-00
605C-00
-----
-----
-----
Control Mode
Torque
Index Description
6071-00 Target Torque
(%)
6072-00 Max. Torque
Limit(%)
----- -----
2060-07 Target Torque
(%)
2060-08 Speed Limit (Hz)
Operation Control
Description
Operation Command
-----
Operation Command
Operation Command
-----
Other
Description
Quick stop processing mode
Disable operation processing mode
-----
-----
-----
15-6
Position
Index Description Index Description
607A-00 Target -----
Position
----- ----- -----
----- ----- -----
2060-05 Target -----
Position
----- ----- -----
Home
-----
-----
-----
-----
-----