EN
User manual DRCS - CanOpen
19
Programming examples
8.
The following are the commands to be sent to the drive, configured with address 3, to perform the main functions:
- Enable the motor to execute the commands
ID
size
data
description
$603
$8
$2B 40 60 00 06 00 00 00
“ready to switch on
$603
$8
$2B 40 60 00 07 00 00 00
“Switched on”
$603
$8
$2B 40 60 00 0F 00 00 00
“Operation enabled”
- Switch to the Homing mode profile
$603
$8
$2F 60 60 00 06 00 00 00
“set homing mode”
$603
$8
$2F 98 60 00 11 00 00 00
“set homing metod to 17”
- Setting the homing profile
$603
$8
$23 83 60 00 64 00 00 00
“set acceleration to 100mm/s2”
$603
$8
$23 84 60 00 64 00 00 00
“set deceleration to 100mm/s2”
$603
$8
$23 99 60 01 32 00 00 00
“set fast velocity home to 50mm/s”
$603
$8
$23 99 60 02 32 00 00 00
“set slow velocity home to 50mm/s”
- Start homing procedure
$603
$8
$2B 40 60 00 1F 00 00 00
“set start homing”
$603
$8
$2B 40 60 00 0F 00 00 00
“reset start command”
- Switch to position profile
$603
$8
$2F 60 60 00 01 00 00 00
“set profile position mode”
- Setting the motion profile
$603
$8
$23 81 60 00 32 00 00 00
“set velocity to 50mm/s”
$603
$8
$23 83 60 00 64 00 00 00
“set acceleration to 100mm/s2”
$603
$8
$23 84 60 00 64 00 00 00
“set deceleration to 100mm/s2”
- Command for movement to an absolute position
$603
$8
$23 7A 60 00 2C 01 00 00
“set target to 300mm”
$603
$8
$2B 40 60 00 1F 00 00 00
“set start command”
$603
$8
$2B 40 60 00 0F 00 00 00
“clear command”
- Command for movement to a relative position
$603
$8
$23 7A 60 00 2C 01 00 00
“set target to 300mm”
$603
$8
$2B 40 60 00 5F 00 00 00
“set start command”
$603
$8
$2B 40 60 00 0F 00 00 00
“clear command”
- Switch to the velocity profile
$603
$8
$2B 40 60 00 0F 01 00 00
“set motion halted”
$603
$8
$2F 60 60 00 03 00 00 00
“set profile velocity”
- Setting the motion profile
$603
$8
$23 FF 60 00 32 00 00 00
“set target velocity to 50mm/s”
$603
$8
$23 83 60 00 64 00 00 00
“set acceleration to 100mm/s2”
$603
$8
$23 84 60 00 64 00 00 00
“set deceleration to 100mm/s2”
- Speed movement start / stop command
$603
$8
$2B 40 60 00 0F 00 00 00
“set motion start”
$603
$8
$23 FF 60 00 64 00 00 00
“change target velocity to 100mm/s”
$603
$8
$2B 40 60 00 0F 01 00 00
“set motion halted”
$603
$8
$23 FF 60 00 00 00 00 00
“change target velocity to 0mm/s”
