Delta C2000 Series User Manual page 743

Vector control drive

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Chapter 15 CANopen Overview C2000

NOTE01: Read 2061-05 to get the current position.

NOTE02: Read bit0 of 2061 to find if the position has reached to the target position. (0: Not reached,

1: Reached).

1. Set Pr. 00-12 to choose the method to return home.

2. Set the left and right limits correspond to the position of MI terminal.

3. Switch to home mode: set Index 6060 = 6.

4. Set 2060-01 = 0080h, then the motor drive starts excitation.

5. Set the ACK signal: set 2060-01 = 0081h, then the motor drive starts to go back home.

NOTE 01: Read bit12 of 6041 to find if returning home is completed. (0: Not reached, 1: Reached).

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