Delta C2000 Series User Manual page 469

Chapter 15 CANopen Overview
NOTE: The standard DS402 doesn't regulate the highest speed limit. Therefore if the motor drive
defines the control mode of DS402, the highest speed will go with the setting of Pr11-36 to
Pr11-38.
NOTE 01: To know the current torque, read 6077 (unit: 0.1%).
NOTE02: To know if reaching the targeting torque, read bit 10 of 6041. (0: Not reached; 1: Reached)
1. Set the parameter of a trapezium curve to define position control (Pr11-43 Max. Frequency of
Point- to-Point Position Control, Pr11-44 Accel. Time of Point-to Point Position Control and
Pr11-45 Decel. Time of Point-to Point Position Control)
2. Let Ac Motor Drive be at the position control mode: Then set Index 6060 = 1.
3. Switch the current mode to Operation Enable, set 6040 = 0xE and then set 6040 = 0xF.
4. To set targeting position: set 607A as the targeting position.
5. Trigger an ACK signal: Set 6040 = 0x0F then set 6040 = 0x1F. (Bit4 changes from 0 to 1).
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