User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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6.2 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 pre-operational or operational) 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).
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