Chapter 15 CANopen Overview C2000 Plus
15-15
15-3-3 Using the Delta Standard (Old definition, only supports speed mode)
15-3-3-1 Various mode control method (following the Delta old standard)
If you want to use the Delta old 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 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 (station address error CAdE or
CANopen memory error CFrE) when you finish the station setting, set Pr.00-02 = 7 to reset.
6. 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))
15-3-3-2 The control method under speed mode
1. Set the target frequency: set 2020-02, the unit is Hz, with 2 decimal places. For example, 1000
is 10.00Hz.
2. Operation control: set 2020-01 = 0002H for running, and set 2020-01 = 0001H for stopping.
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