Delta Electronics VFD-E manual How to Control by CANopen, Stop

Appendix D How to Use PLC Function

Index	Sub	Definition	Factory	RW	Size	Unit	Map	NOTE
			Setting
								0 : disable drive function
								1 :slow down on slow down
								ramp
								2: slow down on quick stop
0x605A	0	Quick stop option	2	RW	S16	1ms	Yes	ramp (2th decel. time)
								5 slow down on slow down
		code
								ramp and stay in QUICK
								STOP
								6 slow down on quick stop
								ramp and stay in QUICK
								STOP
0x6060	0	Mode of	2	RO	U8		Yes	Speed mode
		operation
0x6061	0	Mode of	2	RO	U8		Yes
		operation display

E.2 How to Control by CANopen

To control the AC motor drive by CANopen, please set parameters by the following steps: Step 1. Operation source setting: set Pr.02.01 to 5 (CANopen communication. Keypad STOP/RESET disabled.)

Step 2. Frequency source setting: set Pr.02.00 to 5 (CANopen communication)

Step 3. CANopen station setting: set Pr.09.13 (CANopen Communication Address 1-127)

Step 4. CANopen baud rate setting: set Pr.09.14 (CANBUS Baud Rate)

Step 5. Set multiple input function to quick stop when necessary: Set Pr.04.05 to 04.08 or Pr.11.06 to 11.11 to 23.

According to DSP-402 motion control rule, CANopen provides speed control mode. There are many status can be switched during Start to Quick Stop. To get current status, please read “Status Word”. Status is switched by the PDO index control word via external terminals.

Control word is a 16-byte in index 0x6040 and each bit has specific definition. The status bits are bit

4 to bit 6 as shown in the following: Bit 4: ramp function enabled

Bit 5: ramp function disabled

Bit 6: rfg use reference

Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11 E-13