Delta Electronics VFD037CH23A-21 — обзор CANopen: Управление и Настройка Режима Возврата Домой [437/638]

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Chapter 15 CANopen Overview C2000 Series

15-18

NOTE01: To know the current position, read 2061-05.

NOTE02: To know if reaching the target position, read bit 0 of 2061 (0: Not reached, 1: Reached).

Home Mode

1. Set Pr00-12 to choose how to return home.

2. Set the left and right limits correspond to the position of MI terminal.

3. To switch C2000 control mode to Home mode: Set Index 6060 = 6.

4. Set 2060-01 = 0080h, then motor drive will have server on.

5. Set the ACK signal: set 2060-01 = 0081h, then the motor drive will start to go back home.

NOTE 01: To know if returning home is completed, read bit12 of 6041 ( 0: Not reached, 1: Reached).