Servotronix stepIM, Техническое учебное пособие

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stepIM
35 Technical Training Manual
5. Gently take hold of the motor load disk of the motor, and check for the
resistance indicating that the drive is enabled.
Exercise – Generate Motion
Perform the following steps to generate a motion of one revolution at 20 rpm,
and then generate a motion of ten revolutions at 200 rpm.
Command Object Hexadecimal
Value
Decimal
Value
1 Disable drive 6040 h 0x06 6
2 Switch to Profile Position operation mode (opmode 1) 6060 h 0x1 1
3 Enable the drive 6040 h 0x07 7
4 Set target position to one revolution (= 4096 counts) 607A h 0x1000 4096
5 Set speed to 2000 (20 rpm) 6081 h 0x7D0 2000
6 Enable operation 6040 h 0xF 15
7 Start motion (execute one revolution) 6040 h 0x7F 127
8 Enable operation 6040 h 0xF 15
9 Start motion (execute one revolution) 6040h 0x7F 127
10 Set target position to ten revolutions (= 40960
counts)
607A h 0xA000 40960
11 Set speed to 20000 (200 rpm) 6081 h 0x4E20 20000
12 Enable operation 6040 h 0xF 15
13 Start motion (execute ten revolutions) 6040 h 0x7F 127