3
Step By Step - Motor Setup
1.2.4 Motor disable and restart
!amhX:1# - (CAN protocol) Set Controlword value to 0x06:
Shutdown motor number X. Motor stops, no holding force at
the motor. Restart with state machine (!amhX:7#) or homing
sequence (!ahoX:Y#).
!amhX:2# - (CAN protocol) Set Controlword value to 0x07:
Switch ON motor number X. Motor stops, no holding force at
the motor. Restart via Controlword 0x1F (!amhX:4#) or homing
sequence (!ahoX:Y#).
!amhX:3# - (CAN protocol) Set Controlword value to
0x0F: Switch ON and Enable Operation motor number X,
no movement. Motor stops, holding force stays on motor.
Restart via Controlword 0x1F (!amhX:4#) or homing sequence
(!ahoX:Y#).
!amhX:4# - (CAN protocol) Set Controlword value to 0x1F:
Enable Operation on motor number X, start movement.
!ahmX:5# - (CAN protocol) Set Controlword value to 0x100:
Enabling Halt function on motor number X. Note that in this
state the interpolation mode is not longer active. Restart needs
do be done via full homing sequence (!ahoX:Y#).
!amhX:6# - (CAN protocol) Set Controlword value to 0x80:
Fault Reset on motor number X. No influence on motor.
!amhX:7# - Run state machine with (CAN protocol)
Controlword values 0x06, 0x07, 0x0F and 0x1F: Enables motor
and start movement on motor number X. Basic initialization
need to be done before by running homing sequence (!ahoX:Y#)
