Delta C2000 Series User Manual

Chapter 15 CANopen Overview C2000
15-9
When the motor drive turns on and finishes the initiation, it remains in Ready to Switch On status.
To control the operation of the motor drive, change to Operation Enable status. To do this, set the
control word’s bit0–bit3 and bit7 of the Index 6040H and pair with Index Status Word (Status Word
0X6041). The control steps and index definition are described below:
Index 6040
15–9 8 7 6~4 3 2 1 0
Reserved Halt Fault Reset Operation
Enable
operation
Quick Stop
Enable
Voltage
Switch On
Index 6041
15–14 13–12
11 10 9 8 7 6 5 4 3 2 1 0
Reserved
Operation
Internal
limit
active
Tar get
reached
Remote Reserved
Warning
Switch on
disabled
Quick
stop
Voltage
enabled
Fault
Operation
enable
Switch on
Ready to
switch on
Start
Not Ready to Switch On
X0XX0000
Switch On Disable
X1XX0000
Ready to Switch On
X01X0001
Switch On
X01X0011
Operation Enable
X01X0111
0XXXX110
and
Disable QStop=1
0XXXX111
0XXX1111
0XXXXX0X
or
0XXXX01X
or
Disable QStop=0
0XXXX110
0XXXX111
0XXXX110
0XXXXX0X
Quick Stop Active
X00X0111
0XXXX01X
and
QStop=1Disable
0XXXX01X
or
QStop=0Disable
Fault Reaction Active
X0XX1111
Fault
X0XX1000
0XXXXX0X
or
Fout=0
XXXXXXX
Power
Disable
Fault
Power
Enable
0XXXXX0X
or
0XXXX01X
or
Disable QStop=0
Set command 6040=0xE, then set another command 6040=0xF. Then you can switch the
motor drive to Operation Enable. The Index 605A determines the lines from Operation Enable when
the control mode changes from Quick Stop Active. When the setting value is 1–3, both lines are
active, but when the setting value of 605A is not 1–3, once the motor drive is switched to Quick Stop
Active, it is not able to switch back to Operation Enable.)

Delta C2000 Series Specifications

General

Operating Temperature	-10°C to 50°C
Storage Temperature	-20°C to 60°C
Overload Capacity	150% of rated current for 60 seconds
Communication	DeviceNet
Protection	Overvoltage, Undervoltage, Overcurrent, Overload, Overheat
Humidity	5% to 95% (non-condensing)
Cooling	Forced air cooling
Control Mode	V/F Control, Sensorless Vector Control