Delta C2000 Series User Manual page 470

NOTE 01: To know the current position, read 6064.
NOTE 02: To know if the position reaches the targeting position, read bit 10 of 6041. (0: reached, 1:
Not reached)
NOTE 03: To know if the position is over the limited area, read bit 11 of 6041 (0: in the limit, 1: over
the limit)
1. Set Pr00-12 to choose a home method.
2. Set the left and right limits correspond to the position of MI terminal.
3. To switch Ac Motor Drive control mode to Home mode: Set Index 6060 = 6.
4. To switch from current mode to Operation Enable: Set 6040 = 0xE, then set 6040 = 0xF.
5. To trigger an ACK signal: Set 6040 = 0x0F, then set 6040 = 0x1F (Bit4 changes from 0 to 1 and the
motor drive will be back to home.)
Note 01: To know if the home mode is completed, read bit 12 of 6041. (0: reached, 1: Not reached)
Chapter 15 CANopen Overview
15-13