Chapter 15 CANopen Overview C2000 Plus
15-8
15-3-2 DS402 Standard Control Mode
15-3-2-1 Related settings 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 as the control mode: Pr.09-40=1
7. Set the CANopen station: set Pr.09-36; the range is between 1–127. When Pr.09-36 = 0, the
CANopen slave function is disabled. Note that if an error appears (station address error CAdE or
CANopen memory error CFrE) when you finish the station setting, set Pr.00-02 = 7 to reset.
8. Set the CANopen baud rate: set Pr.09-37 (CANBUS Baud Rate: 1Mbps(0), 500Kbps(1),
250Kbps(2), 125Kbps(3), 100Kbps(4) and 50Kbps(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–Pr.02.08 or Pr.02.26–Pr.02.31. (Note: This function is available in
DS402 only.)
15-3-2-2 The status of the motor drive (following the 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 statuses
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 that might trigger error(s).
9. Fault: One or more errors have occurred in the motor drive.
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