Delta VFD11AMS21AFSHA, User Manual

Page: 313 / 445

Chapter 15 CANopen Overview

MS300
(High Speed Model)
15-10
Set command 6040 =0xE, then set another command 6040 =0xF. Then the motor drive can be
switched to Operation Enable. The Index 605A decides the dashed line of Operation Enable when
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 Definition
Factory
Setting
R/W Size Unit
PDO
Map
Mode
note
605Ah 0 Quick stop option code 2 RW S16 No
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
Besides, use 605C to define parking method when the control section is switched from Power
Enable to Power Disable.
Index Sub Definition
Factory
Setting
R/W Size Unit
PDO
Map
Mode note
605Ch 0
Disable operation option
code
1 RW S16 No
0: Disable drive function
1: Slow down with slow down ramp;
disable of the drive function
15-3-2-3 Various mode control method (by following DS402 standard)
Currently MS300 support speed control mode, as follows:
Speed mode:
1. Let MS300 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:
p
120
f n
 
n: rotation speed (rpm) (rounds/minute) P: motor’s pole number (Pole)
f: rotation frequency (Hz)
For example:
Set 6042H = 1500 (rpm), if the motor drive's pole number is 4 (Pr. 05-04 or Pr. 05-16), then the
motor drive's operation frequency is 1500 (120 / 4) = 50 Hz. 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)
Index 6040
SUM
bit 6 bit 5 bit 4
1 0 1 Locked at the current signal.
1 1 1 Run to reach targeting signal.
Other Decelerate to 0 Hz.