Chapter 15 CANopen Overview C2000-HS
15-10
Index Sub Definition Default R/W Size Unit
PDO
Map
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
PDO
Map
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)
The control mode of C2000-HS currently supports speed, torque, position and home control, and are
described as below:
Speed mode
1. Set C2000-HS to speed control mode: set Index 6060 to 2.
(The Index 6071 is available for torque limit under the speed control mode)
2. Switch to Operation Enable mode: set 6040=0xE, and then set 6040 = 0xF.
3. Set the target frequency: Set target frequency of 6042, since the operation unit of 6042 is rpm, a
transform is required:
p
120
fn
For example:
Set 6042H = 1500 (rpm), if the number of poles is 4 (Pr.05-04 or Pr.05-16), then the motor drive's
operation frequency is 1500/ (120/4) = 50Hz. 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 as below:
Speed mode
(Index 6060=2)
Index 6040
SUM
bit6 bit5 bit4
1 0 1 Locked at the current signal.
1 1 1 Run to reach targeting signal.
Other Decelerate to 0Hz.
n: rotation speed (rpm) (rounds/minute)
p: motor’s pole number (Pole)
f: rotation frequency (Hz)
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