After configuring and the auto setup, a test run can be performed. As an example, the Velocity operating mode is used.
- Select the Velocity mode by setting object 6060h (Modes Of Operation) to the value "2".
- Write the desired speed in 6042h.
Switch the power state machine to the Operation enabled state, see CiA 402 Power State Machine.
The following sequence starts Velocity mode; the motor turns at 200 rpm.
- To stop the motor, set controlword (6040h) to "6".