Delta Electronics AC Motor Drive VFD-E - Manual (Page 12)

D.5.4 Main Control Commands..........................................................D-29
D.5.5 Rising-edge/falling-edge Detection Commands of Contact ......D-29
D.5.6 Rising-edge/falling-edge Output Commands............................D-30
D.5.7 End Command .........................................................................D-30
D.5.8 Explanation for the Commands ................................................D-30
D.5.9 Description of the Application Commands................................D-45
D.5.10 Explanation for the Application Commands............................D-46
D.5.11 Special Application Commands for the AC Motor Drive .........D-58
D.6 Error Code .......................................................................................D-65
Appendix E CANopen Function .................................................................E-1
E.1 Overview............................................................................................E-2
E.1.1 CANopen Protocol......................................................................E-2
E.1.2 RJ-45 Pin Definition....................................................................E-3
E.1.3 Pre-Defined Connection Set.......................................................E-3
E.1.4 CANopen Communication Protocol ............................................E-4
E.1.4.1 NMT (Network Management Object) ..................................E-4
E.1.4.2 SDO (Service Data Object).................................................E-6
E.1.4.3 PDO (Process Data Object)................................................E-7
E.1.4.4 EMCY (Emergency Object).................................................E-9
E.2 How to Control by CANopen ............................................................E-13