ElmoMC Multi-Axis Motion Controller-Maestro - Manual (Page 184)

a2.hof=-100 //homing offset definition for axis a2
g1.hom=1 //homing method definition
g1.hm=1 //HM mode activation
g1.awm //wait for motion completed (bit 10 of SW is ON)
g1.mo=0 //motor off command
end function
HP mode activation (hp) command for compound motion objects is synchronous
under Sync messages.
10.6 Profiled Torque (PT) Mode
The profile torque mode allows transmitting the target torque value, which is
processed using the trajectory generator. In profile torque mode, torque slope and
torque profile type parameters are required. For a more detailed description of the
DSP 402 PT Mode see the Profiled Torque section in the “Elmo CANopen DS 402
Implementation Guide”.
10.6.1 Profiled Torque (PT) Commands
Note: Set and get commands are allowed for Axis objects and only set commands are
allowed for the Vector and Group objects.
The following commands are implemented in PT mode:
Object Index
and Subindex
Full Command Short
Command
Elmo Short
Command
Description
0x6071, 0x00
(View Section
11.8, DS402
PDO Mapping
Table) ProfileTargetTorque ptt tc Profile target torque
0x6072, 0x00 ProfileMaxTorque pmxt - Profile max torque
0x6073, 0x00 ProfileMaxCurrent pmxc - Profile max current
0x6074, 0x00 ProfileDemandTorque pdt - Profile demand torque
0x6077, 0x00 ProfileActualTorque part, pat - Profile actual torque
0x6078, 0x00 ProfileActualCurrent pacr - Profile actual current
0x6076, 0x00 MotorRateTorque mrt - Motor rate torque
0x6075, 0x00 MotorRateCurrent mrc - Motor rate current
0x6088, 0x00 TorqueProfileType tpt - Torque profile type
0x6087, 0x00 ProfileTorqueSlope pts - Profile torque slope
Maestro Software Manual DS402 Command Reference
MAN-MASSW (Ver. Q)
10-39