— Exit
[root@OpenIL:~]# nservo_client -c exit
•
Profile Velocity
mode test
— Start the test service as below.
[root@OpenIL:~]# nservo_run -f /root/nservo_example/hss248_ec_config_pv.xml &
— Check whether the status of the slave has been transferred from "PREOP" to "OP".
[root@OpenIL:~]# ethercat slaves
0 0:0 OP + 2HSS458-EC
— Check whether the phase of the master has been transferred from "Idle" to "Operation".
[root@OpenIL:~]# ethercat master | grep Phase
Phase: Operation
— Run below commands to test whether the motor works.
◦ Get current mode of axle 0.
[root@OpenIL:~]# nservo_client -a 0 -c get_mode
get_mode of the axle 0 : Profile Velocity Mode
◦ Set target speed of axle 0.
[root@OpenIL:~]# nservo_client -a 0 -c set_speed:40000
set_speed of the axle 0 : 40000
The value 40000 means that the motor will turn with 10 revolutions per second.
◦ Get current speed of axle 0.
[root@OpenIL:~]# nservo_client -a 0 -c get_speed
get_speed of the axle 0 : 32000
◦ Get target speed of axle 0.
[root@OpenIL:~]# nservo_client -a 0 -c get_target_speed
get_target_speed of the axle 0 : 40000
— Exit
[root@OpenIL:~]# nservo_client -c exit
NXP Semiconductors
nxp-servo
Open Industrial User Guide, Rev. 1.8, 05/2020
User's Guide
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