Delta MH300 Series - 15-3 CANopen Communication Interface Descriptions

Chapter 15 CANopen Overview
MH300
15-8
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
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 MH300 currently supports speed and torque 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 c
an 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: (2000-00–200E-XX)
3. Accelerating / Decelerating Index: 604F 6050