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2021-07-21_11-59-58_CM1-E User Guide
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Old Version
28
changes.mady.by.user
Mark McCann
Saved on
Sept 18, 2018
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New Version
29
changes.mady.by.user
Mark McCann
Saved on
Oct 23, 2018
Previous Change: Difference between versions 27 and 28
Next Change: Difference between versions 29 and 30
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Added firmware page, included V113 xml and V113 firmware
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Table of Contents
Introductio
n
Overview
Cool Muscle Motors
EtherCAT Overview
EtherCAT State Machine
PDO Mappings
Wiring and LED Information
Overview
Motor Connections
LEDs
CiA 402 - Drives and Motion Control Device Profile
Controlling the Power Drive System
State Machine
Controlword (0x6040)
Statusword (0x6041)
Modes of Operation
Switching between modes
Profile Position Mode
Profile Velocity Mode
Homing Mode
Cyclic Synchronous Position Mode
Cyclic Synchronous Velocity Mode
Motor Peak Speeds
Object Dictionary
Communication Objects
PDO Mapping Objects
CiA402 Drive Profile Objects
Data Sheets and MCAD
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