FAULHABER Motion Control Systems LM-Motors ... - MicroMo

2 Quick Start2.4 Operation using own host application2.4.3 Operation in one of the CANopen CiA 402 drive profilesA CiA 402 drive must be activated according to a fixed sequence of steps (see Chapter 4.1 “Devicecontrol”). Write access to the controlword is possible using the object dictionary at address 0x6040 orusing RxPDO:1. Shutdown:Controlword = 0x00 062. Switch on:Controlword = 0x00 07The drive is then in “Switched On” status. Operation must then be released to enable drive commandsto be executed.3. Enable operation:Controlword = 0x00 0FThe drive is then in “operation enabled” status, in which it can be operated using the correspondingobjects of the adjusted control mode (see Chapter 4.1 “Device control” and Chapter 4.2“Factor group”).4. Drive motor (example):Move motor relatively by 1 000 increments:Modes of operation (object 0x6060): Set 1 (profile position mode) by SDO access.Target position (object 0x607A): 1 000Controlword = 0x00 7F (new set-point, change set immediately, rel)14