Delta C2000 Plus Series User Manual

Chapter 15 CANopen Overview C2000 Plus
15-8
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:
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 for the Frequency command from
the CANopen setting.
4. Set the torque source: set Pr.11-33. Choose the source for the Torque command from the
CANopen setting.
5. Set the position source: set Pr.11-40. Choose the source for the Position command from the
CANopen setting.
6. Set DS402 as the control mode: Pr.09-40=1
7. Set the CANopen station: set Pr.09-36; the range is between 1–127. When Pr.09-36 = 0, the
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.
8. Set the CANopen baud rate: set Pr.09-37 (CANBUS Baud Rate: 1Mbps(0), 500Kbps(1),
250Kbps(2), 125Kbps(3), 100Kbps(4) and 50Kbps(5))
9. 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 parameters: 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 (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
1. Power Disable: without PWM output
2. Power Enable: with PWM output
3. Fault: One or more errors have occurred.
9 statuses
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, 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.

Delta C2000 Plus Series Specifications

General

Altitude	Up to 1000m without derating
Communication	CANopen
Output Current	2.5A
Protection Features	Overcurrent, Overvoltage, Overtemperature
Operating Temperature	-10°C to 50°C
Storage Temperature	-20°C to 60°C
Humidity	95% RH (non-condensing)