User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
67 / 88
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Quick Stop Deceleration no 0 100000 2000 [rpm/s] RW
Table 191: Entry Description (6085
h
)
9.2 How to move a Motor in csp Mode
Here is a little example that shows how to get a motor running in csp 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 csp mode by writing 8 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.
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com