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Chapter 15 CANopen Overview│CFP2000
15-3-2 DS402 Standard Control Mode
15-3-2-1 Related set up for an AC motor drive (following the DS402 standard)
If you want to use the DS402 standard to control the motor drive, follow these steps:
1.
Wire the hardware (refer to Section 15-2 Wiring for CANopen)
2.
Set the operation source: set Pr.00-21 to 3 for CANopen communication card control.
(Run/stop, forward/reverse run...etc.)
3.
Set the frequency source: set Pr.00-20 to 6. Choose the source of the frequency command
from the CANopen setting.)
4.
Set DS402 for the control mode: Pr.09-40=1
5.
Set the CANopen station: set the CANopen station (range 1–127, 0 is to disable the CANopen
slave function) with Pr.09-36. Note: set Pr.00-02=7 to reset if the station number error CAdE or
CANopen memory error CFrE appears.
6.
Set the CANopen baud rate: set Pr.09-37 (CANBUS Baud Rate: 1 Mbps(0), 500 Kbps(1), 250
Kbps (2), 125 Kbps (3), 100 Kbps (4) and 50 Kbps (5))
7.
Set the multiple input functions to Quick Stop, you can also choose enable or disable; the
default setting is disabled. 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.)
15-3-2-2 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 statuses as
described below.
3 blocks
1. Power Disable: Without PWM output
2. Power Enable: With PWM output
3. Fault: One or more errors have occurred.
9 status
1. Start: Power On
2. Not ready to switch on: The motor drive is initiating.
3. Switch On Disable: occurs when the motor drive finishes initiating.
4. Ready to switch on: warming up before running.
5. Switch On: the motor drive has the PWM output now, but the reference command is not effective.
6. Operation Enable: able to control normally.
7. Quick Stop Active: when there is a Quick Stop request, stop running the motor drive.
8. Fault Reaction Active: the motor drive detects conditions that might trigger error(s).
9. Fault: One or more errors have occurred in the motor drive.
When the motor drive turns on and finishes the initiation, it remains in Ready to Switch On
status. To control the operation of the motor drive, change to Operation Enable status. To do this,
set the control word's bit0–bit3 and bit7 of the Index 6040H and pair with Index Status Word
(Status Word 0X6041). The control steps and index definition are described as below:
Index 6040
15–9
Reserved
8
7
Halt
Fault Reset
6–4
3
Enable
Operation
operation
15-8
2
1
Enable
Quick Stop
Voltage
0
Switch On
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