User Manual

TMCM-1276 CANopen
®
Firmware Manual Firmware Version V3.22 | Document Revision V1.00 2018-JUN-28
85 / 114
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 SIGNED32 0
Table 270: Entry Description (60FF
h
)
7.2 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 pre-operational or operational) by NMT commands
before.
If you do not have any limit switches connected, rst 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
.
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