Delta C2000 Series User Manual page 468

Chapter 15 CANopen Overview
NOTE 01: To know the current rotation speed, read 6043. (unit: rpm)
NOTE 02: To know if the rotation speed can reach the targeting value; read bit 10 of 6041. (0: Not
reached; 1: Reached)
1. Let Ac Motor Drive be at the torque control mode: Set Index6060 = 4.
2. Switch the current mode to Operation Enable, set 6040 = 0xE, then set 6040 = 0xF.
3. To set targeting torque: Set 6071 as targeting torque and 6072 as the largest output torque.
Index 6040
SUM
Torque mode
Bit 6 Bit 5 Bit 4
(Index 6060=4)
X X X RUN to reach the targeting torque.
15-11