TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Object Description
Index
Name
Object Type
Data Type
6085
h
Quick stop deceleration
Variable
UNSIGNED32
Table 220: Object Description (6085
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
51200
Table 221: Entry Description (6085
h
)
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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