User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 60
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4.5.1.11 Object 60FF
h
: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator.
Object 60FF
h
sets the target velocity when using profile velocity mode. The drive then accelerates or
decelerates to that velocity using the acceleration and deceleration set by objects 6083
h
and 6084
h
. The
values are given in units, which can be selected with object 208C
h
, described in paragraph 5.2.15.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60FF
h
Target velocity
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
SIGNED32
-2147483647… [phone] /
depends on selected units
4.5.2 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 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 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
.