Delta CT2000 Series, User Manual

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Chapter 15 CANopen Overview

CT2000 Series
15-15
5. CANopen station setting: set Pr.09-36 (Choose source of position commend from CANopen
setting.)
6.
Set
Delta Standard (Old definition, only support speed mode)
as control mode: Pr. 09-40 = 0 and
09-30 = 0.
7. CANopen station setting: set Pr.09-36 (Range of setting is 1~127. When Pr.09-36=0, CANopen
slave function is disabled. ) (Note: If error arised (CAdE or CANopen memory error) as station
setting is completed, press Pr.00-02=7 for reset.)
8. CANopen baud rate setting: set Pr.09.37 (CANBUS Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and50K(5))
15-3-4-2 Various mode control method (Delta New Standard)
Speed Mode
1. Let Ac Motor Drive be at the speed control mode: Set Index6060 = 2.
2. Set the target frequency: set 2060-03, unit is Hz, with a number of 2 decimal places. For example
1000 is 10.00Hz.
3. Operation control: set 2060-01 = 008H for Server on, and set 2060-01 = 0081H for Running.
Torque Mode
1. Let Ac Motor Drive be at torque control mode: set Index 6060 = 4.
2. Set target torque: set 2060-07, unit is %, a number of 1 decimal place. For example 100 is 10.0%.
3. Operation control: Set 2060-01 = 0080H for Server on, then the motor drive will start to run to
reach target torque.