TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 52<br />
7.2.1.17 Object 608F h , 688F h, and 708F h: Position encoder resolution<br />
This object defines the resolution of the encoder. The position encoder resolution is calculated by the<br />
following formula:<br />
All values are dimensionless.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
608F h (motor 0)<br />
688F h (motor 1)<br />
708F h (motor 2)<br />
Encoder resolution Array UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Entry category Access PDO Mapping Value Range Default Value<br />
01h Highest sub index<br />
supported<br />
Mandatory c<br />
Refer to CiA402<br />
02h 02h Encoder<br />
increments<br />
Mandatory<br />
rw<br />
Refer to CiA402<br />
UNSIGNED32<br />
03h Motor revolutions Mandatory ro Refer to CiA402 UNSIGNED32 1<br />
7.2.2 How to move a motor in pp mode<br />
Here is a little example that shows how to get a motor running in pp mode. In this little example we<br />
assume that the module has been reset (and then switched to start) by NMT commands before.<br />
Please note, that the values are decimal.<br />
If you do not have any limit switches connected, first disable the limit switch inputs by<br />
writing 3 to object 2005 h .<br />
Select pp mode by writing 1 to object 6060 h .<br />
Write 6 to object 6040 h to switch to READY_TO_SWITCH_ON state.<br />
Write 7 to object 6040 h to switch to SWITCHED_ON state.<br />
Write 15 to object 6040 h to switch to OPERATION_ENABLED state.<br />
Write the desired target position (e.g. 500000) to object 607A h .<br />
Mark the new target position as active by writing 31 to object 6040 h . The motor starts moving<br />
now.<br />
Reset the activation by writing 15 to object 6040 h (this can be done while the motor is still<br />
moving).<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG