ElmoMC SimplIQ Command Reference User Manual

Page 107

In encoder-only systems (in which no digital Hall sensors are present), the
commutation is calculated only once after power up upon the first MO=1
command. The motor moves a few encoder counts during the automatic
commutation search.

When the brake function is enabled, the dedicated output is released after the
duration defined in BP[N]. During this time, all motion reference commands are
ignored.

After a motor fault (MF>0), the motor can be re-enabled only when the cause of
the fault is no longer present.

If MO=1 fails with the “Amplifier not ready” error code (EC=66), the exact reason
for the fault can be found by querying the MF command.

MO=0 disables the motor for 200 sampling time (about 10 milliseconds) until a
new MO=1 can restart the motor.

In the “Ready to switch on”, “Switch on disabled” and “Fault” states (refer to the
Elmo CANopen Implementation Manual), MO=1 is blocked and returns an error.
These states can be command controlled only by a CAN master using the DS402
standard control word (object 0x6040).

Setting MO=1 in the “Switched on” CAN state transfer the state of the state
machine to “Operation enabled.” Setting MO=0 in “Operation Enabled” or “Quick
stop active” state will transfer the state machine to “Switched on.” (Refer to CAN
object 0x6040 in the Elmo CANopen Implementation Manual).

Attributes:

Type: Command/Parameter,

Integer

Source:

Program, RS-232, CANopen

Restrictions: None
Default values: 0,

Volatile

Range: [0…1]
Unit modes: All
Activation: Immediate

See also:

BP[N]

SimplIQ

Command Reference Manual

Alphabetical Listing

MAN-SIMCR (Ver. 4.5)

3-94