Delta MH300 Series - Page 843

Chapter 15 CANopen Overview
MH300
15-14
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 MH300 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:
1. Read 6064 to get the current position.
2. Read bit10 of 6041 to find if the position reaches the targeting position. (0: Not reached, 1:
reached)
3. 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 6098 = 1–35 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: Read bit12 of 6041 to find if the home mode is completed. (0: Not reached, 1: reached)