Delta C2000 series User Manual page 402

setting is completed, press Pr.00-02=7 for reset.)
6. CANopen baud rate setting: set Pr.09.37 (CANBUS Baud Rate: 1M(0), 500K(1), 250K(2),
125K(3), 100K(4) and50K(5))
7. Set multiple input functions to Quick Stop (it can also be enable or disable, default setting is
disable). If it is necessary to enable the function, set MI terminal to 53 in one of the following
parameter: Pr.02.01 ~Pr.02.08 or Pr.02.26 ~ Pr.02.31. (Note: This function is available in DS402
only.)
8. Switch to C2000 operation mode via the NMT string; control word 0x6040 (bit 0, bit 1, bit 2, bit 3
and bit 7) and status word 0x6041.
For example:
1. If the multi-function input terminal MI set Quick Stop to disable, enable the responsive
terminal of such MI terminal.
2. Set index 6040H to 7EH.
3. Set index 6040H to 7FH, the drive is now in operation mode.
4. Set index 6042H to 1500 (rpm), the default setting for pole is 4 (50Hz). Set the pole in
Pr.05.04 (Motor1) and Pr.05.16 (Motor 2).
Calculation for motor speed:
Example 1: set motor running in forward direction, f = 30Hz, P = 4.
(120*30)/4 = 900rpm
Example 2: set motor running in reverse direction, f = 20Hz, P = 6.
(120*15)/6 = 300rpm; 300rpm = 0x012C
Also,
Bit15 defines the positive and negative sign.
i.e. Index 6042 = -300 = ( 300' + 1) = 012CH' + 1 = FED3H +1 = FED4H
Switching mode:
Chapter 15 CANopen Overview |C2000 Series
120
= ×
where
n f
n = ramp per minute (rpm/min);
p
P = poles
f = frequency (Hz)
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