Chapter 15 CANopen Overview│CP2000
15-11
15-3-3 Using the Delta Standard (Old definition, only supports speed mode)
15-3-3-1 Various mode control method (Delta Old Standard)
Follow the steps below:
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 source for the frequency command from
the CANopen setting.
4. Set Delta Standard (Old definition, only supports speed mode) as the control mode: Pr.09-40 = 0
and Pr.09-30 = 0.
5. Set the CANopen station: set Pr.09-36; the range is among 1–127. When Pr.09-36=0, the
CANopen slave function is disabled. Note: If an error appears (CAdE or CANopen memory error)
as you complete the station setting, set Pr.00-02=7 to reset.)
6. 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) and 50 Kbps(5))
15-3-3-2 By speed mode
1. Set the target frequency: Set 2020-02, the unit is Hz, with 2 decimal places. For example, 1000 is
10.00 Hz.
2. Operation control: set 2020-01 = 0002H for running, and set 2020-01 = 0001H for stopping.
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