User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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Object Description
Index Name Object Type Data Type
60FF
h
Target Velocity Variable SIGNED32
Table 280: Object Description (60FF
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 SIGNED32 0
Table 281: Entry Description (60FF
h
)
7.2 How to move a Motor in pv Mode
Here is a little example that shows how to get a motor running in pv mode. In this little example we assume
that the module has been reset (and then switched to pre-operational or operational) by NMT commands
before.
• If you do not have any limit switches connected, first disable the limit switch inputs by writing 3 to
object 2005
h
.
• Select pv mode by writing 3 to object 6060
h
.
• Write 6 to object 6040
h
to switch to READY_TO_SWITCH_ON state.
• Write 7 to object 6040
h
to switch to SWITCHED_ON state.
• Write 15 to object 6040
h
to switch to OPERATION_ENABLED state.
• Write the desired target speed (e.g. 100000) to object 60FF
h
. The motor now accelerates to that
speed.
• Stop the motor by writing 0 to object 60FF
h
.
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