Chapter 15 CANopen Overview C2000
15-12
NOTE: The standard DS402 does not regulate the maximum speed limit. Therefore, if the motor drive
defines the control mode of DS402, the highest speed will go with the setting of Pr. 11-36 to
Pr. 11-38.
NOTE 01: Read 6077 to get the current torque. (Unit: 0.1%).
NOTE02: Read bit10 of 6041 to find if the torque has reached the targeting value. (0: Not reached; 1:
Reached)
Position mode
1. Set the parameter of a trapezium curve to define position control (Pr. 11-43 Max. Frequency of
Point-to-Point Position Control, Pr. 11-44 Accel. Time of Point-to-Point Position Control and Pr.
11-45 Decel. Time of Point-to-Point Position Control)
2. Set C2000 to position control mode: set Index 6060 = 1.
3. Switch to Operation Enable mode: set 6040 = 0xE, and then set 6040 = 0xF.
4. Set targeting position: set 607A as the targeting position.
5. Trigger an ACK signal: set 6040 = 0x0F, and then set 6040 = 0x1F. (Pulse On).
NOTE 01: Read 6064 to get the current position.
NOTE 02: Read bit10 of 6041 to find if the position reaches the targeting position. (0: Not reached, 1:
reached)
NOTE 03: Read bit11 of 6041 to find if the position is over the limited area. (0: in the limit, 1: over the
limit)
Home mode
1. Set Pr. 00-12 to choose a home method.
2. Set the left and right limits correspond to the position of MI terminal.
3. Switch to Home mode: set Index 6060 = 6.
4. Switch to Operation Enable mode: set 6040 = 0xE, and then set 6040 = 0xF.
5. To trigger an ACK signal: set 6040 = 0x0F, and then set 6040 = 0x1F (Pulse On, and the motor
drive will be back to home.)
NOTE 01: Read bit12 of 6041 to find if the home mode is completed. (0: Not reached, 1: reached)
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