Chapter 15 CANopen OverviewMS300 (High Speed Model)
15-8
15-3-2 DS402 Standard Control Mode
15-3-2-1 Related set up of ac motor drive (by following DS402 standard)
If you want to use DS402 standard to control the motor drive, please follow the steps below:
1. Wiring for hardware (refer to chapter 15-2 Wiring for CANopen)
2. Operation source setting: set Pr. 00-21 to 3 for CANopen communication card control.
3. Frequency source setting: set Pr. 00-20 to 6. (Choose source of frequency commend from
CANopen setting.)
4. Set DS402 as control mode: Pr. 09-40=0
5. CANopen station setting: The CANopen station (range 1-127, 0 is the Disable CANopen
slave function) can be set via Pr. 09-36. (Note: Set Pr. 00-02 = 7 to reset if the station
number error CAdE or CANopen memory error CFrE appears).
6. CANopen baud rate setting: set Pr. 09.37 (CANBUS Baud Rate: 1 M, 500 K, 250 K, 125 K,
100 K and 50 K)
7. Set multiple input functions to Quick Stop (it can also be enabled or disable, default setting is
disabled). If it is necessary to enable the function, set MI terminal to 53 in one of the
following parameter: 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 (by following 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: That means without PWM output
2. Power Enable: That means with PWM output
3. Fault: One or more than one error has occurred.
9 statuses:
1. Start: Power On
2. Not ready to switch on: The motor drive is initiating.
3. Switch On Disable: When the motor drive finishes the initiation, it will be at this mode.
4. Ready to switch on: Warming up before running.
5. Switch On: The motor derive has the PWM output now, but the reference commend is
not effective.
6. Operate Enable: Able to control normally.
7. Quick Stop Active: When there is a Quick Stop request, you have to stop running the
motor drive.
8. Fault Reaction Active: The motor drive detects conditions which might trigger error(s).
9. Fault: One or more than errors has occurred to the motor drive.
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