User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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9.2 How to move a Motor in cst Mode
Here is a little example that shows how to get a motor running in cst mode. In this little example we
assume that the module has been reset (and then switched to start) 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 cst mode by writing 10 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 torque (e.g. 1000) to object 6071
h
to start the motor.
• To stop the motor, write 0 to object 6071
h
.
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