Chapter 15 CANopen Overview
MH300
Set command 6040 = 0xE, and then set another command 6040 = 0xF. Then you can switch the motor
drive to Operation Enable. The Index 605A determines the direction of the lines from Operation Enable
when the control mode changes from Quick Stop Active. When the setting value is 5–7, both direction lines
are active, but when the setting value of 605A is not 5–7, once the motor drive is switched to Quick Stop
Active, it is not able to switch back to Operation Enable.
Index Sub Definition Default R/W Size Unit
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
When the control section switches from Power Enable to Power Disable, use 605C to define the stop
method.
Index Sub Definition Default R/W Size Unit
Mode note
605Ch
0
Disable operation
option code
1 RW S16 No
0: Disable drive function
1: Slow down with slow down
ramp; disable the drive function.
15-3-2-3 Various mode control method (by following DS402 standard)
Speed mode:
1. Set MH300 to speed control mode: set Index6060 to 2.
2. Switch to Operation Enable mode: set 6040 = 0xE, and then set 6040 = 0xF.
3. Set the target frequency: set target frequency for 6042, since the operation unit of 6042 is rpm, a
transform is required:
n: rotation speed (rpm) (rounds/minute)
p: number of poles in the motor (Pole)
f: rotation frequency (Hz)
For example:
Set 6042H = 1500 (rpm), if the number of poles 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.
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 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.
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