E-21
E.2 CANopen Communication Interface Description
E-2-1 Select control mode
There are two kinds of control mode for CANOpen, when Pr.09.24 sets to 1(default factory
settings), the control mode is
using DS402 standard; when Pr.09.24 sets to 0, the control
mode is
adopting Delta standard.
E-2-2 Control mode use DS402 standard
To control the AC motor drive by CANopen, please set parameters by the following steps:
1. Operation source setting: set Pr.02.01 to 5 and select CANopen communication mode.
2. Frequency source setting: set Pr.02.00 to 5 and select via CANopen settings.
3. CANopen station setting: set CANopen communication address (1-127) via Pr.09.20
settings.
4. CANopen baud rate setting: set Pr.09.21 for CANopen baud rate (items: 1M, 500K,
250K, 125K and 50K).
5. CANopen control decoding setting: set Pr.09.24 to 1 and select DS402 specification for
decoding.
6. Set multiple input functions to quick stop when necessary: Set Pr.04.05 ~ 04.08 or
Pr.11.06 ~ 11.11 to 23.
7. According to DS402 specification for motion control, CANopen provide the speed control
mode. The control flow has multiple statuses which can switch between “Start” to “Quick
Stop”. If you want to know the current status, you can get it by “Status Word”. The status
switch mode needs to go through the “Control Word” of PDO with external terminals.
8. To switch the operation mode of drive (Operation Enable, via NMT characters). The
switch flow is controlling by word “0x6040” bit 0 ~bit3 and bit7 with status word “0x6041”.
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