Delta VFD220VL43C-J - B-3 CANopen Communication Interface Descriptions; B-3-1 CANopen Control Mode Selection

Appendix B: CANopen Overview | VFD-VJ
Apx B - 7
B-3 CANopen Communication Interface Descriptions
B-3-1 CANopen Control Mode Selection
There are two control modes for CANopen: the DS402 standard (Pr.04-20 set to 1) is the
factory setting, and the Delta’s standard setting (Pr.04-20 set to 0). There are two control
modes according to Delta’s standard. One is the old control mode (Pr.04-24=0); this control
mode can only control the motor drive under frequency control. The other mode is a new
standard (Pr.04-24=1); this new control mode allows the motor drive to be controlled under
multiple modes. The VJ currently supports speed mode. The following table shows the
control mode definitions:
CANopen
control mode
Control mode
Speed
Index Description
DS402
Pr.04-20=1
6042-00 Target rotating speed (RPM)
----- -----
Delta Standard
(Old definition)
Pr.04-20=0, Pr.04-24=0
2020-02 Target rotating speed (Hz)
Delta Standard
(New definition)
Pr.04-20=0, Pr.04-24=1
2060-03 Target rotating speed (Hz)
2060-04 Torque limit (%)
CANopen
control mode
Operation control
Index Description
DS402
Pr.04-20=1
6040-00
Operation Command
-----
-----
Delta Standard
(Old definition)
Pr.04-20=0, Pr.04-24=0
2020-01
Operation Command
Delta Standard
(New definition)
Pr.04-20=0, Pr.04-24=1
2060-01
Operation Command
-----
-----
CANopen
control mode
Other
Index Description
DS402
Pr.04-20=1
605A-00
Quick stop processing mode
605C-00
Disable operation processing mode
Delta Standard
(Old definition)
Pr.04-20=0, Pr.04-24=0
----- -----
Delta Standard
(New definition)
Pr.04-20=0, Pr.04-24=1
----- -----
----- -----
You can use some indices in either DS402 or Delta’s standard. For example:
1. Indices that are defined as RO attributes
2. The corresponding index of available parameter groups: (2000-00–200E-XX)
3. Accelerating/Decelerating Index: 604F 6050