Delta C2000 Series User Manual page 737

Chapter 15 CANopen Overview C2000
Index Sub Definition
Quick stop
605Ah 0
option code
When the control section switches from Power Enable to Power Disable, use 605C to define the stop
method.
Index Sub Definition
Disable
605Ch 0 operation
option code
15-3-2-3 Various mode control method (by following DS402 standard)
The control mode of C2000 currently supports speed, torque, position and home control, and are
described as below:
Speed mode
1. Set C2000 to speed control mode: set Index 6060 to 2.
(The Index 6071 is available for torque limit under the speed control mode)
2. Switch to Operation Enable mode: set 6040=0xE, and then set 6040 = 0xF.
3. Set the target frequency: Set target frequency of 6042, since the operation unit of 6042 is rpm, a
transform is required:
120
 
n f
p
For example:
Set 6042H = 1500 (rpm), if the number of poles is 4 (Pr. 05-04 or Pr. 05-16), then the motor
drive's operation frequency is 1500/ (120/4) = 50Hz. 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)
Default R/W Size
2 RW S16
Default R/W Size
1 RW S16
n: rotation speed (rpm) (rounds/minute)
p: motor's pole number (Pole)
f: rotation frequency (Hz)
Index 6040
bit 6
1
1
Other
PDO
Unit Mode
Map
No
PDO
Unit Mode
Map
No
bit 5 bit 4
0 1
1 1
15-10
note
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 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
note
0: Disable drive function
1: Slow down with slow down
ramp; disable the drive
function
SUM
Locked at the current signal.
Run to reach targeting signal.
Decelerate to 0Hz.