Delta MS300 Series User Manual page 650

When the control block 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 (following the DS402 standard)
MS300 supports the speed control mode. The speed control mode is described below.
Speed mode:
Set MS300 to the speed control mode: set Index6060 to 2.
1.
Switch to Operation Enable mode: set 6040 = 0xE, and then set 6040 = 0xF.
2.
Set the target frequency: set target frequency for 6042. Since the operation unit of 6042 is
3.
rpm, a conversion is required.
For example:
Set 6042H = 1500 (rpm), if the number of poles for the drive is 4 (Pr.05-04, Pr.05-16, Pr.05-67
or Pr.05-73), then the motor drive's operation frequency is 1500 (120/4) = 50 Hz. The 6042 is
defined as a signed operation. The plus or minus sign means to rotate clockwise or counter-
clockwise.
To set acceleration and deceleration: use 604F (Acceleration) and 6050 (Deceleration).
4.
Trigger an ACK signal: in the speed control mode, control the bit 6–4 of Index 6040. It is
5.
defined below.
Speed mode
(Index 6060 = 2)
Default R/W Size
1 RW S16
n: rotation speed (rpm) (revolutions/minute)
P: number of poles of the motor (Pole)
f: rotation frequency (Hz)
Index 6040
bit 6 bit 5
1
1
Other
Chapter 15 CANopen OverviewMS300
Unit PDO Map Mode
No
bit 4
0 1 Locked at the current frequency.
1 1
641
note
0: Disable drive function
1: Slow down with slow down
ramp; disable the drive
function.
Result
Run to reach the target
frequency.
Decelerating to 0 Hz.