Chapter 15 CANopen Overview
CT2000 Series
15-6
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
Control Mode
Speed Torque
Position
Home
Index Description
Index Description Index
Description Index Description
DS402
standard
Pr. 09-40=1
6042-00 Target
rotating
speed
(RPM)
6071-00 Target Torque
(%)
607A-00
Target
Position
----- -----
----- -----
6072-00
Max.
Torque
Limit(%)
----- ----- ----- -----
Delta Standard
(Old definition)
P09-40=
0
,
P09-30=0
2020-02 Target rotating
speed (Hz)
-----
-----
----- ----- ----- -----
Delta Standard
(New definition)
P09-40=0,
P09-30=1
2060-03 Target rotating
speed (Hz)
2060-07 Target Torque
(%)
2060-05
Target
Position
----- -----
2060-04 Torque
Limit
(%)
2060-08 Speed Limit (Hz)
-----
-----
-----
-----
CANopen Control Mode
Selection
Operation Control
Index Description
DS402 standard
Pr. 09-40=1
6040-00 Operation
Command
----- -----
Delta Standard (Old definition)
P09-40=
0
, P09-30=0
2020-01 Operation
Command
Delta Standard (New
definition)
P09-40=0, P09-30=1
2060-01 Operation
Command
----- -----
CANopen Control Mode
Selection
Other
Index Description
DS402 standard
Pr. 09-40=1
605A-00
Quick stop processing mode
605C-00
Disable operation processing mode
Delta Standard (Old definition)
P09-40=
0
, P09-30=0
----- -----
Delta Standard (New
definition)
P09-40=0, P09-30=1
----- -----
----- -----
Summary of Contents for CT2000 Series
Page 5: ...Chapter 1 Introduction CT2000 Series 1 2 Model Name VFD 750 CT 43 F 00 A6 Serial Number...
Page 22: ...Chapter 1 Introduction CT2000 Series 1 19 Digital Keypad KPC CC01 KPC CE01 Unit mm inch...
Page 23: ...Chapter 1 Introduction CT2000 Series 1 20 This page intentionally left blank...
Page 41: ...Chapter 4 Wiring CT2000 Series 4 6 This page intentionally left blank...
Page 71: ...Chapter 7 Optional Accessories CT2000 Series 7 18 Wall Mounting Embedded Mounting...
Page 87: ...Chapter 8 Optional Cards CT2000 Series 8 8 PG Card intallation...
Page 88: ...Chapter 8 Optional Cards CT2000 Series 8 9 Disconneting the extension card...
Page 92: ...Chapter 8 Optional Cards CT2000 Series 8 13 PG2 Wiring Diagram...
Page 95: ...Chapter 8 Optional Cards CT2000 Series 8 16 PG2 Wiring Diagram...
Page 117: ...Chapter 8 Optional Cards CT2000 Series 8 38 This page intentionally left blank...
Page 259: ...Chapter 12 Description of Parameter Settings CT2000 Series 12 1 03 11...
Page 260: ...Chapter 12 Description of Parameter Settings CT2000 Series 12 1 03 12...
Page 263: ...Chapter 12 Description of Parameter Settings CT2000 Series 12 1 03 15...
Page 266: ...Chapter 12 Description of Parameter Settings CT2000 Series 12 1 03 18...
Page 397: ...Chapter 13 Warning Codes CT2000 Series 13 8 This page intentionally left blank...
Page 407: ...Chapter 14 Fault Codes and Descriptions CT2000 Series 14 10 This page intentionally left blank...
Page 489: ...Chapter 16 PLC Function CT2000 Series 16 48 LD X1 Load Contact a of X1 OUT Y1 Drive Y1 coil...
Page 592: ...Chapter 16 PLC Function CT2000 Series 16 151...
Page 594: ...Chapter 16 PLC Function CT2000 Series 16 153...
Page 597: ...Chapter 16 PLC Function CT2000 Series 16 156 This page intentionally left blank...