Delta C2000 Series User Manual page 467

Chapter 15 CANopen Overview
Set command 6040 =0xE, then set another command 6040 =0xF. Then the motor drive can be
switched to Operation Enable. The Index 605A decides the dashed line of Operation Enable when
the control mode changes from Quick Stop Active. (When the setting value is 1~3, this dashed line is
active. But when the setting value of 605A is not 1~3, once he motor derive is switched to Quick Stop
Active, it will not be able to switch back to Operation Enable.)
Index Sub
605Ah 0 Quick stop option code
Besides, when the control section switches from Power Enable to Power Disable, use 605C to define
parking method.
Index Sub
605Ch 0 Disable operation option code
15-3-2-3 Various mode control method (by following DS402 standard)
Control mode of C2000, supporting speed, torque, position and home control are described as
below:
1. Let Ac Motor Drive be at the speed control mode: Set Index6060 to 2.
2. Switch to Operation Enable mode: Set 6040=0xE, then set 6040 = 0xF.
3. To set target frequency: Set target frequency of 6042, since the operation unit of 6042 is rpm, there
is a transformation:
n f
f: rotation frequency (Hz)
For example:
Set 6042H = 1500 (rpm), if the motor drive's pole number is 4 (Pr05-04 or Pr05-16), then the
motor drive's operation frequency is 1500(120/4)=50Hz.
Besides, the 6042 is defined as a signed operation. The plus or minus sign means to rotate
clockwise or counter clockwise
4. To set acceleration and deceleration: Use 604F(Acceleration) and 6050(Deceleration).
5. Trigger an ACK signal: In the speed control mode, the bit 6~4 of Index 6040 needs to be controlled.
It is defined as below:
Speed mode
(Index 6060=2)
Definition Factory Setting
Definition Factory Setting
120
n: rotation speed (rpm) (rounds/minute)
p
Bit 6
1
1
R/W Size Unit
2 RW S16
R/W Size Unit
1 RW S16
Index 6040
Bit 5 Bit 4
0 1
1 1
Other
15-10
PDO
Mode note
Map
0 : disable drive function
1 :slow down on slow down ramp
2: slow down on quick stop ramp
5 slow down on slow down ramp and
No stay in QUICK STOP
6 slow down on quick stop ramp and
stay in QUICK STOP
7 slow down on the current limit and
stay in Quick stop
PDO
Mode note
Map
0: Disable drive function
1: Slow down with slow down ramp;
No
disable of the drive function
P: motor's pole number (Pole)
SUM
Locked at the current signal.
Run to reach targeting signal.
Decelerate to 0Hz.