Delta VFD300C43S-HS User Manual

Chapter 15 CANopen Overview C2000-HS
15-7
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 set to 1) is the default,
and the Delta’s standard setting (Pr. 09-40 set to 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 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 multiple modes. The C2000-HS currently
supports speed, torque, position and home mode. The following table shows the control mode
definitions:
CANopen
Control
Mode
Selection
Control Mode
Speed Torque Position Home
Index Description Index Description Index Description Index Description
DS402
standard
Pr. 09-40=1
6042-00
Target
Rotating
Speed (rpm)
6071-00
Target Torque
(%)
607A-00
Target
Position
----- -----
----- ----- 6072-00
Max. Torque
Limit (%)
----- ----- ----- -----
Delta Standard
(Old definition)
Pr. 09-40=1,
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)
2060-07
Target Torque
(%)
2060-05
Target
Position
----- -----
2060-04
Torque Limit
(%)
2060-08 Speed Limit (Hz) ----- ----- ----- -----
CANopen Control Mode
Selection
Operation Control
Index Description
DS402 standard
Pr. 09-40=1
6040-00 Operation Command
----- -----
Delta Standard (Old definition)
Pr. 09-40=1, Pr. 09-30=0
2020-01 Operation Command
Delta Standard (New definition)
Pr. 09-40=0, Pr. 09-30=1
2060-01 Operation Command
----- -----
CANopen Control Mode
Selection
Other
Index Description
DS402 standard
Pr. 09-40=1
605A-00 Quick stop processing mode
605C-00 Disable operation processing mode
Delta Standard (Old definition)
Pr. 09-40=1, 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: (2000-00–200B-XX)
3. Accelerating / Decelerating Index: 604F 6050

Delta VFD300C43S-HS Specifications

General

Brand	Delta
Model	VFD300C43S-HS
Category	DC Drives
Language	English