Chapter 15 CANopen Overview│CP200015-715-3 CANopen Communication Interface Description15-3-1 CANopen Control Mode SelectionThere are two control modes for CANopen; Pr.09-40 set to 1 is the factory setting modeDS402 standard and Pr.09-40 set to 0 is Delta’s standard setting mode.There are also two control modes according to Delta’s standard. One is the old controlmode (Pr09-30=0), which can only control the motor drive under frequency control. Another one is anew standard (Pr09-30=1) control mode, that allows the motor drive to be controlled under all sort ofmode. Currently. Currently, CP2000 only supports speed mode.The definition of relating control mode is:CANopen ControlMode SelectionControl ModeSpeedIndex DescriptionDS402 standardPr09-40=16042-00 Target rotating speed (RPM)----- -----Delta Standard (Old definition)Pr09-40=0 Pr09-30=0 2020-02 Target rotating speed (Hz)Delta Standard (New definition)Pr09-40=0, Pr09-30=12060-03 Target rotating speed (Hz)2060-04 Torque Limit (%)CANopen Control ModeSelectionOperation ControlIndex DescriptionDS402 standardPr. 09-40=16040-00 Operation Command----- -----Delta Standard (Old definition)P09-40=0, P09-30=0 2020-01 Operation CommandDelta Standard (New definition)Pr09-40=0, Pr09-30=12060-01 Operation Command----- -----CANopen Control ModeSelectionOtherIndex DescriptionDS402 standardPr. 09-40=1605A-00 Quick stop processing method605C-00 Disable operation processing methodDelta Standard (Old definition)Pr09-40=1, Pr09-30=0 ----- -----Delta Standard (New definition)Pr09-40=0, Pr09-30=1----- ---------- -----However, some index can be used regardless of DS402 or Delta’s standard.For example:1. Index that is defined as RO attributes.2. Index corresponds to parameters such as (2000 ~200B-XX)3. Accelerating/Decelerating Index: 604F 60504. Control mode: Index : 6060
