Delta C2000 Series User Manual page 630

Classical field oriented control ac motor drive

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Homing control/position control:

Control special M

M1040 Servo On

Move to new position, must use control mode as position mode (D1060 = 1) and

M1050 Absolute position/relative position (0: relative/1: absolute)

Search for origin (home start), must use control mode as position mode (D1060

= 3) and M1040 = 1

Status special M

M1064 Target reached

M1070 Return home complete

M1071 Homing error

Control special D

D1060 Operating mode setting (position mode is 1, homing mode is 3)

Status special D

D1050 Actual operating mode (speed mode is 0)

D1051 Actual position (Low word)

D1052 Actual position (High word)

D1051 and D1052 must be combined to give the actual location, and it has a serial number.

Position mode control commands:

Target (with numbers)

Example of homing mode/position mode control:

First complete setting of electromechanical parameters connected with position before

implementing homing control or position control.

Set 00-40 to select the homing method and the corresponding limit sensors and origin.

(Setting the MI function gives a reverse rotation limit of 44, a forward rotation limit of 45, and

an origin proximity of 46. Because the C2000 current only supports a Z-phase origin, the

encoder card must a provide Z-phase.)

Set D1060 = 3 to change the converter to the homing mode.

Description of Function

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