Chapter 15 CANopen Overview
MH300
Position Mode
1. Set the parameter of a trapezium curve to define position control (Pr.11-43 Max. Position Control
Frequency), Pr.11-44 Accel. Time of Position Control, Pr.11-45 Decel. Time of Position Control)
2. Set MH300 to position control mode, set Index 6060 = 1.
3. Set 2060-01 = 0080h, then motor drive starts excitation.
4. Set target position: set 2060-05 = target position.
5. Set 2060-01 =0081h to trigger the motor drive runs to the target position.
6. Repeat step 3 to step 5 to move to another position.
NOTE:
1. Read 2061-05 to get the current position.
2. Read bit0 of 2061 to find if the position has reached to the target position. (0: Not reached, 1:
Reached).
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. Set 2060-01 = 0080h, then the motor drive starts excitation.
5. Set the ACK signal: set 2060-01 = 0081h, then the motor drive starts to go back home.
NOTE: Read bit12 of 6041 to find if returning home is completed. (0: Not reached, 1: Reached).
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