The below example sets typical motion profile commands a system would configure1, enabling the motor power2 and sending a new target velocity using SDOs with Node ID 41h.
1 Typical motion profile commands could be set each time on power up from host or set using a configuration file and stored to NVM once.
2 Enabling the motor power only has to be done once on power up.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | Typical motion profile commands and enabling motor power - '***** Typical Motion Parameters ***** >> Id=0641, Rtr=00, Data= 2F 04 22 00 50 00 00 00 'Set run current to 80% >> Id=0641, Rtr=00, Data= 23 84 60 00 40 42 0F 00 'Set deceleration to 1M steps/sec^2 >> Id=0641, Rtr=00, Data= 23 83 60 00 40 42 0F 00 'Set acceleration to 1M steps/sec^2 '***** Enable motor power - DSP402 state machine ***** >> Id=0641, Rtr=00, Data= 2B 40 60 00 06 00 00 00 'Ready to Switch on >> Id=0641, Rtr=00, Data= 2B 40 60 00 07 00 00 00 'Switched on >> Id=0641, Rtr=00, Data= 2B 40 60 00 0F 00 00 00 'Operation Enable '***** Set to Profile Velocity Mode ***** >> Id=0641, Rtr=00, Data= 2F 60 60 00 03 00 00 00 'Set to Profile Velocity Mode Send new Target Velocity - >> Id=0641, Rtr=00, Data= 23 FF 60 00 50 C3 00 00 'Target Velocity 50K |
