User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 37
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4.2.1.15 Object 6084
h
: Profile Deceleration
This object indicates the configured deceleration. It sets the maximum deceleration used in profile
positioning mode.
Please choose the units for object 6084
h
with object 208E
h
, described in paragraph 0. Object 208E
h
reads 0
when internal units are selected or 179 when user units (PPS/s) are selected.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6084
h
Profile deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.2.2 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 start) by NMT commands before. Please
note, that the values are decimal.
- If you do not have any limit switches connected, first disable the limit switch inputs by writing 3
to object 2005
h
.
- Select pp mode by writing 1 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 position (e.g. 500000) to object 607A
h
.
- Mark the new target position as active by writing 31 to object 6040
h
. The motor starts moving
now.
- Reset the activation by writing 15 to object 6040
h
(this can be done while the motor is still
moving).