Delta MS300 Series User Manual page 648

15-3-2 DS402 Standard Control Mode
15-3-2-1 Related settings 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:
Wire the hardware (refer to Section 15-2 Wiring for CANopen).
1.
Set the operation source: set Pr.00-21 to 3 for CANopen communication card control.
2.
Set the frequency source: set Pr.00-20 to 6. Choose the source for the Frequency command
3.
from the CANopen setting.
Set DS402 as the control mode: Pr.09-40 = 1
4.
Set the CANopen station: set Pr.09-36; the range is among 1–127. When Pr.09-36 = 0, the
5.
CANopen slave function is disabled. Note that if an error appears (station address error CAdE
or CANopen memory error CFrE) when you finish the station setting, set Pr.00-02 = 7 to reset.
Set the CANopen baud rate: set Pr.09-37 (CANBUS baud rate: 1 Mbps (0), 500 Kbps (1), 250
6.
Kbps (2), 125 Kbps (3), 100 Kbps (4) or 50 Kbps (5)).
Set the multiple input functions to Quick Stop. You can also choose to enable or disable; the
7.
default setting is disabled. If it is necessary to enable the function, set MI terminal to 53 in one
of the following parameters: Pr.02-01–02-07. Note that this function is available in DS402 only.
15-3-2-2 The status of the motor drive (following the DS402 standard)
According to the DS402 definition, the motor drive is divided into 3 blocks and 9 statuses as
described below.
3 Blocks
 Power Disable: without PWM output
 Power Enable: with PWM output
 Fault: one or more errors have occurred.
9 Statuses
Start: power on

 Not Ready to Switch On: the motor drive is initiating.
 Switch On Disable: occurs when the motor drive finishes initiating.
 Ready to Switch On: warming up before running.
 Switch On: the motor drive has the PWM output, but the reference command is not effective.
 Operation Enable: able to control normally.
 Quick Stop Active: when there is a Quick Stop request, stop running the motor drive.
 Fault Reaction Active: the motor drive detects conditions which might trigger error(s).
 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 below.
Chapter 15 CANopen OverviewMS300
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