Servotronix stepIM Technical Training Manual page 37

5.
Gently take hold of the motor load disk of the motor, and check for the
resistance indicating that the drive is enabled.
Exercise – Generate Motion
Perform the following steps to generate a motion of one revolution at 20 rpm,
and then generate a motion of ten revolutions at 200 rpm.
Command
1 Disable drive
2 Switch to Profile Position operation mode (opmode 1)
3 Enable the drive
4 Set target position to one revolution (= 4096 counts)
5 Set speed to 2000 (20 rpm)
6 Enable operation
7 Start motion (execute one revolution)
8 Enable operation
9 Start motion (execute one revolution)
10 Set target position to ten revolutions (= 40960
counts)
11 Set speed to 20000 (200 rpm)
12 Enable operation
13 Start motion (execute ten revolutions)
35
Object
Hexadecimal
Value
6040h 0x06
6060h 0x1
6040h 0x07
607Ah 0x1000
6081h 0x7D0
6040h 0xF
6040h 0x7F
6040h 0xF
6040h
0x7F
607Ah
0xA000
6081h
0x4E20
6040h
0xF
6040h 0x7F
Technical Training Manual
stepIM
Decimal
Value
6
1
7
4096
2000
15
127
15
127
40960
20000
15
127