Chapter 15 CANopen Overview
MH300
15-3-2 DS402 Standard Control Mode
15-3-2-1 Related set up 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 for the control mode: Pr.09-40 = 1
7. Set the CANopen station: set the CANopen station (range 1–127, 0 is the disable CANopen slave
function) with Pr.09-36.
NOTE: set Pr.00-02 = 7 to reset if the station number error CAdE or CANopen memory error CFrE
appears.
8. Set the CANopen baud rate: set Pr.09-37 (CANBUS Baud Rate: 1 Mbps (0), 500 Kbps (1), 250 Kbps
(2), 125 Kbps (3), 100 Kbps (4) or 50 Kbps (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.02-01–02-07 or Pr.02-26–02-28. Note: This function is available in DS402 only.
15-3-2-2 The status of the motor drive (by following 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 status
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 which might trigger error(s).
9. Fault: one or more errors have occurred in the motor drive.
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