Chapter 15 CANopen OverviewMS300
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15-3 CANopen Communication Interface Descriptions
15-3-1 CANopen Control Mode Selection
There are two control modes for CANopen: the DS402 standard (Pr.09-40 = 1) is the default, and the
Delta’s standard setting (Pr.09-40 = 0). There are two control modes according to Delta’s standard.
One is the old control mode (Pr.09-30 = 0); this control mode can only control the motor drive under
the frequency control. The other mode is a new standard (Pr.09-30 = 1); this new control mode allows
the motor drive to be controlled under all kinds of modes. The MS300 currently supports the speed
mode. For torque, position and home mode, refer to MH300 series. The following table shows the
control mode definitions:
DS402 Standard
Pr.09-40 = 1
Target rotating speed (rpm)
Delta Standard
(Old definition)
Pr.09-40 = 0, Pr.09-30 = 0
Target rotating speed (Hz)
Delta Standard
(New definition)
Pr.09-40 = 0, Pr.09-30 = 1
Target rotating speed (Hz)
DS402 Standard
Pr.09-40 = 1
Delta Standard
(Old definition)
Pr.09-40 = 0, Pr.09-30 = 0
Delta Standard
(New definition)
Pr.09-40 = 0, Pr.09-30 = 1
DS402 Standard
Pr.09-40 = 1
Quick stop processing mode
Disable operation processing mode
Delta Standard
(Old definition)
Pr.09-40 = 0, Pr.09-30 = 0
Delta Standard
(New definition)
Pr.09-40 = 0, Pr.09-30 = 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: (2000–200B-XX)
3. Acceleration/Deceleration Index: 604F 6050
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