Delta CT2000 Series, Руководство пользователя, Страница: 417 / 634

Chapter 15 CANopen Overview

CT2000 Series
15-10
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, when the control section switches from Power Enable to Power Disable, use 605C to define
parking method.
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)
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:
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 (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)
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 0Hz.