User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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6.3 How to move a Motor in pp Mode
Here is a little example that shows how to get a motor running in pp 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. Please note that the values are decimal.
• Select pp mode by writing 1 to object 6060
h
(Modes_of_Operation).
• Write 6 to object 6040
h
(Controlword) to switch to READY_TO_SWITCH_ON state.
• Write 7 to object 6040
h
to switch to SWITCHED_ON state.
• Write the desired target position (e.g. 50000) to object 607A
h
(Target_Position).
• Write 15 to object 6040
h
to switch to OPERATION_ENABLED state. The motor now accelerates to the
target position.
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