Delta CT2000 Series User Manual page 417

Chapter 15 CANopen Overview CT2000 Series
the control mode changes from Quick Stop Active. (When the setting value is 1~3, this dashed line is
active. But when the setting value of 605A is not 1~3, once he motor derive is switched to Quick Stop
Active, it will not be able to switch back to Operation Enable.)
Index Sub
0
605Ah Quick stop option code
Besides, when the control section switches from Power Enable to Power Disable, use 605C to define
parking method.
Index Sub
0
605Ch Disable operation option code
15-3-2-3 Various mode control method (by following DS402 standard)
Control mode of C2000, supporting speed, torque, position and home control are described as
below:
Speed mode
1. Let Ac Motor Drive be at the speed control mode: Set Index6060 to 2.
2. Switch to Operation Enable mode: Set 6040=0xE, then set 6040 = 0xF.
3. To set target frequency: Set target frequency of 6042, since the operation unit of 6042 is rpm, there
is a transformation:
 
n f
f: rotation frequency (Hz)
For example:
Set 6042H = 1500 (rpm), if the motor drive's pole number is 4 (Pr05-04 or Pr05-16), then the
motor drive's operation frequency is 1500(120/4)=50Hz.
Besides, 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)
Definition Factory Setting
Definition Factory Setting
120
n: rotation speed (rpm) (rounds/minute)
p
Bit 6
1
1
R/W Size Unit
RW S16
2
R/W Size Unit
1 RW S16
Index 6040
Bit 5 Bit 4
0 1
1 1
Other
15-10
PDO
Mode note
Map
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
No
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
PDO
Mode note
Map
0: Disable drive function
1: Slow down with slow down ramp;
No
disable of the drive function
P: motor's pole number (Pole)
SUM
Locked at the current signal.
Run to reach targeting signal.
Decelerate to 0Hz.