Delta C2000 Plus Series User Manual

Chapter 15 CANopen Overview C2000 Plus
15-7
15-3 CANopen Communication Interface Descriptions
15-3-1 CANopen Control Mode Selection
There are two control modes for CANopen: the DS402 standard (Pr.09-40 set to 1) is the default, and
the Delta’s standard setting (Pr.09-40 set to 0). There are two control modes according to Delta’s standard.
One is the old control mode (Pr.09-30 = 0); this control mode can only control the motor drive under the
speed control. The other mode is a new standard (Pr.09-30 = 1); this new control mode allows the motor
drive to be controlled under multiple modes. The C2000 Plus currently supports speed, torque, position
and home mode. The following table shows the control mode definitions:
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)
Pr.09-40=1,
Pr.09-30=0
2020-02
Target
Rotating
Speed (Hz)
----- ----- ----- ----- ----- -----
Delta Standard
(New definition)
Pr.09-40=0,
Pr.09-30=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)
Pr.09-40=1, Pr.09-30=0
2020-01 Operation Command
Delta Standard (New definition)
Pr.09-40=0, Pr.09-30=1
2060-01 Operation Command
----- -----
CANopen Control Mode
Selection
Others
Index Description
DS402 Standard
Pr.09-40=1
605A-00 Quick stop processing mode
605C-00
Disable operation
processing mode
Delta Standard (Old definition)
Pr.09-40=1, Pr.09-30=0
----- -----
Delta Standard (New definition)
Pr.09-40=0, Pr.09-30=1
----- -----
----- -----
You can use some indices in either DS402 or Delta’s standard.
For example:
1. Indices that are defined as RO attributes.
2. The corresponding index of available parameter groups: (2000-00–200B-XX)
3. Acceleration / Deceleration Index: 604F 6050

Delta C2000 Plus Series Specifications

General

Brand	Delta
Model	C2000 Plus Series
Category	DC Drives
Language	English