Chapter 15 CANopen OverviewMS300 (High Speed Model)
15-7
15-3 CANopen Communication Interface Descriptions
15-3-1 CANopen Control Mode Selection
There are two control modes for CANopen; Pr. 09-40 set to 1 is the factory setting mode
DS402 standard and Pr. 09-40 set to 0 is Delta’s standard setting mode. Actually, 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 frequency control. Another mode is a new
standard (Pr. 09-30=1) This new control mode allows the motor drive to be controlled under all
sorts of mode. MS300 support speed mode only currently, please use MH300 series for torque,
position and homing mode. The definition of relating control mode is as follows:
CANopen
control mode
Control mode
Speed
Index Description
DS402
Pr. 09-40=1
6042-00 Target rotating speed (RPM)
----- -----
Delta Standard
(Old definition)
Pr. 09-40=0, Pr. 09-30=0
2020-02 Target rotating speed (Hz)
Delta Standard
(New definition)
Pr. 09-40=0, Pr. 09-30=1
2060-03 Target rotating speed (Hz)
2060-04 Torque limit (%)
CANopen
control mode
Operation control
Index Description
DS402
Pr. 09-40=1
6040-00
Operation Command
-----
-----
Delta Standard
(Old definition)
Pr. 09-40=0, Pr. 09-30=0
2020-01
Operation Command
Delta Standard
(New definition for MS300 series)
Pr. 09-40=0, Pr. 09-30=1
2060-01
Operation Command
-----
-----
CANopen
control mode
Other
Index Description
DS402
Pr. 09-40=1
605A-00
Quick stop processing mode
605C-00
Disable operation processing mode
Delta Standard
(Old definition)
Pr. 09-40=0, Pr. 09-30=0
----- -----
Delta Standard
(New definition for MS300 series)
Pr. 09-40=0, Pr. 09-30=1
----- -----
----- -----
However, you can use some index regardless DS402 or Delta’s standard.
For example:
1. Index which are defined as RO attributes.
2. Index correspond to parameters such as (2000-00~200B-XX)
3. Accelerating / Decelerating Index: 604F 6050
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