ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 156)

Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-11
For IP and PP operation modes psw(PositionWindow) and
pswt(PositionWindowTime) parameters should be set before motor on
operation. These parameters are necessary for the target reached event.
For PV operation mode these parameters are pvt(VelocityThreshold),
pvtt(VelocityThresholdTime), pvw(VelocityWindow) and
pvwt(VelocityWindowTime). For more, see the CiA DS402 Manual.
10.1.4 The Motor Manipulation Macro Command MO
The motor manipulation macro command mo enables and disables the motor power.
Command mo=0 disables the motor. This is the idle state of the drive. Command mo=1
enables the motor power. This operation means to change of device state from SWITCH ON
DISABLED (or one of intermediate states) to OPERATION ENABLE (see Table 9-1).
Object Index and
Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x6040, 0x00
0x6041, 0x00
(for more view PDO
Mapping table) - - mo Motor enable/disable
macro command. The
command contains
following sub –
operations:
Shutdown
SwitchOn
OperationEnable
Getter command MO
can be used for motor
status verification.
Command using:
a1.mo=1
g1.mo=0
motor_state=v1.mo