Profile velocity mode, Homing mode, Profile velocity mode homing mode – Applied Motion ST10-C-CE User Manual
Page 100
100
920-0025 Rev K
3/5/2015
CANopen User Manual
Multiple Move, Immediate Change in Motion
$0603
$8
$23 $81 $60 $00 $B0 $04 $00 $00
‘Set Profile Velocity to 5 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 200000 steps
$0603
$8
$2B $40 $60 $00 $7F $02 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $6F $02 $00 $00
‘Clear New Set Point Bit
$0603
$8
$23 $81 $60 $00 $60 $09 $00 $00
‘Set Profile Velocity to 10 rps
$0603
$8
$23 $7A $60 $00 $40 $0D $03 $00
‘Set Target Position to 600000 steps
$0603
$8
$2B $40 $60 $00 $7F $02 $00 $00
‘Set New Set Point Bit to 1
$0603
$8
$2B $40 $60 $00 $6F $02 $00 $00
‘Clear New Set Point Bit
Profile Velocity Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLC Data
$0603
$8
$2B $40 $60 $00 $06 $00 $00 $00
‘Ready to Switch on
$0603
$8
$2B $40 $60 $00 $07 $00 $00 $00
‘Switched on
$0603
$8
$2B $40 $60 $00 $0F $01 $00 $00
‘Operation Enabled; Motion Halted
**** Set to Profile Velocity Mode ****
$0603
$8
$2F $60 $60 $00 $03 $00 $00 $00
‘Set to Profile Velocity Mode
**** Set Motion Parameters ****
$0603
$8
$23 $FF $60 $00 $F0 $00 $00 $00
‘Set Target Velocity to 1 rps
$0603
$8
$23 $83 $60 $00 $58 $02 $00 $00
‘Set Acceleration to 100 rps/s
$0603
$8
$23 $84 $60 $00 $58 $02 $00 $00
‘Set Deceleration to 100 rps/s
**** Start/Stop Motion ****
$0603
$8
$2B $40 $60 $00 $0F $00 $00 $00
‘Motion Starts
$0603
$8
$23 $FF $60 $00 $60 $09 $00 $00
‘Change Target Velocity to 10 rps
$0603
$8
$2B $40 $60 $00 $0F $01 $00 $00
‘Motion Halts
Homing Mode
**** Enable Motor Power - CiA 402 State Machine ****
ID
DLC Data
$0603
$8
$2B $40 $60 $00 $06 $00 $00 $00
‘Ready to Switch on
$0603
$8
$2B $40 $60 $00 $07 $00 $00 $00
‘Switched on
$0603
$8
$2B $40 $60 $00 $0F $00 $00 $00
‘Operation Enabled
**** Set to Homing Mode ****
$0603
$8
$2F $60 $60 $00 $06 $00 $00 $00
‘Set to Homing Mode
$0603 $8
$2F $98 $60 $00 $13 $00 $00 $00
‘Set Homing Method to 19
**** Set Motion Parameters ****
$0603 $8
$23 $9A $60 $00 $58 $02 $00 $00
‘Set Homing Acceleration to 100rps/s
$0603 $8
$23 $99 $60 $01 $F0 $00 $00 $00
‘Set Homing Velocity (Search for Switch) to 1rps
$0603 $8
$23 $99 $60 $02 $78 $00 $00 $00
‘Set Index Velocity (Search for Index or Zero) to 0.5rps
$0603 $8
$23 $7C $60 $00 $40 $9C $00 $00
‘Set Homing Offset to 40000 Steps
$0603 $8
$2F $01 $70 $00 $03 $00 $00 $00
‘Set Homing Switch to Input 3
**** Start/Stop Homing ****
$0603 $8
$2B $40 $60 $00 $1F $00 $00 $00
‘Homing Starts
$0603 $8
$2B $40 $60 $00 $1F $01 $00 $00
‘Homing Stops