Delta C2000 Series User Manual page 738

Chapter 15 CANopen Overview C2000
NOTE 01: Read 6043 to get the current rotation speed. (Unit: rpm)
NOTE 02: Read bit 10 of 6041 to find if the rotation speed has reached the targeting value. (0: Not
reached; 1: Reached)
Torque mode
1. Set AC motor drive to the torque mode: set Index 6060 = 4.
(The Index 6042 is available for speed limit under the torque control mode)
2. Switch to Operation Enable mode: set 6040 = 0xE, and 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
bit6 bit5 bit4
(Index 6060=4)
X X X RUN to reach the targeting torque.
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