Chapter 15 CANopen Overview│CP2000
15-7
15-3 CANopen Communication Interface Description
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 frequency 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 CP2000 currently only
supports speed mode. The following table shows the control mode definitions:
CANopen Control
Mode Selection
Control Mode
Speed
Index Description
DS402 standard
Pr.09-40=1
6042-00 Target rotating speed (rpm)
----- -----
Delta Standard (Old definition)
Pr.09-40=0 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)
2060-04 Torque Limit (%)
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=0, 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
Other
Index Description
DS402 standard
Pr.09-40=1
605A-00 Quick stop processing method
605C-00 Disable operation processing method
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. Index that are defined as RO attributes.
2. The corresponding index of available parameter groups: 2000-00–200B-XX)
3. Accelerating / Decelerating Index: 604F 6050
4. Control mode: Index: 6060
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