Delta Electronics VFD037CH23A-21 — обзор CANopen: Выбор режима управления для C2000 [426/638]
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Delta Electronics VFD037CH23A-21 — обзор CANopen: Выбор режима управления для C2000 [426/638]

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Delta Electronics VFD007CH23A-21 [426/638] Canopen communication interface descriptions
Chapter 15 CANopen Overview C2000 Series
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
(Pr09-30=0).
This control mode can only control the motor drive under frequency control. Another mode is a new
standard (Pr09-30=1)
This new control mode allows the motor drive to be controlled under all sorts of mode.
Currently, C2000 support speed, torque, position and home mode.
The definition of relating control mode are:
Control Mode
Speed Torque Position Home
CANopen
Control
Mode
Selection
Index Description Index Description Index Description Index Description
6042-00 Target
rotating
speed
(RPM)
6071-00 Target Torque
(%)
607A-00 Target
Position
----- ----- DS402
standard
Pr. 09-40=1
----- ----- 6072-00 Max. Torque
Limit (%)
----- ----- ----- -----
Delta Standard
(Old definition)
P09-40=1,
P09-30=0
2020-02 Target rotating
speed (Hz)
----- ----- ----- ----- ----- -----
2060-03 Target rotating
speed (Hz)
2060-07 Target Torque
(%)
2060-05 Target
Position
----- ----- Delta Standard
(New definition)
P09-40=0,
P09-30=1
2060-04 Torque Limit
(%)
2060-08 Speed Limit (Hz) ----- ----- ----- -----
Operation Control CANopen Control Mode
Selection
Index Description
6040-00 Operation Command DS402 standard
Pr. 09-40=1
----- -----
Delta Standard (Old definition)
P09-40=1, P09-30=0
2020-01 Operation Command
2060-01 Operation Command Delta Standard (New
definition)
P09-40=0, P09-30=1
----- -----
Other CANopen Control Mode
Selection
Index Description
605A-00 Quick stop processing mode DS402 standard
Pr. 09-40=1
605C-00 Disable operation processing mode
Delta Standard (Old definition)
P09-40=1, P09-30=0
----- -----
----- ----- Delta Standard (New
definition)
P09-40=0, P09-30=1
----- -----
However, you can use some index regardless DS402 or Delta’s standard.
For example:
1. Index which are defined as RO attributes.

Содержание

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Изучите различные режимы управления CANopen для C2000, включая стандартные и пользовательские настройки. Узнайте о возможностях управления скоростью, моментом и положением.