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2021-07-21_11-59-58_CM1-E User Guide
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Mark McCann
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Mark McCann
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Table of Contents
Introductio
n
Overview
Cool Muscle Motors
EtherCAT Overview
EtherCAT State Machine
Explicit Device ID
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
XML File and Firmware Updates
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