Profile Velocity Mode - demonstrates the ability to move at constant velocity using Service Data Objects (SDOs).
IMS products support the ability to move in velocity mode. Once in Profile Velocity Mode, any new target velocity will be executed immediately.
The below example sets typical motion profile commands a system would configure1, enabling the motor power2 and sending a new target velocity using SDOs with Node ID 41h.
Notes:
1. Typical motion profile commands could be set each time on power up from host or set using a configuration file and stored to NVM once.
2. Enabling the motor power only has to be done once on power up.
Typical motion profile commands and enabling motor power -
'***** Typical Motion Parameters *****
>> Id=0641, Rtr=00, Data= 2F 04 22 00 50 00 00 00 'Set run current to 80%
>> Id=0641, Rtr=00, Data= 23 84 60 00 40 42 0F 00 'Set deceleration to 1M steps/sec^2
>> Id=0641, Rtr=00, Data= 23 83 60 00 40 42 0F 00 'Set acceleration to 1M steps/sec^2
'***** Enable motor power - DSP402 state machine *****
>> Id=0641, Rtr=00, Data= 2B 40 60 00 06 00 00 00 'Ready to Switch on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 07 00 00 00 'Switched on
>> Id=0641, Rtr=00, Data= 2B 40 60 00 0F 00 00 00 'Operation Enable
'***** Set to Profile Velocity Mode *****
>> Id=0641, Rtr=00, Data= 2F 60 60 00 03 00 00 00 'Set to Profile Velocity Mode
Send new Target Velocity -
>> Id=0641, Rtr=00, Data= 23 FF 60 00 50 C3 00 00 'Target Velocity 50K
