Elmo SimplIQ Series

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 In encoder-only systems (in which no digital Hall sensors are present), the

commutation is calculated only once after power up upon the first MO=1

command. The motor moves a few encoder counts during the automatic

commutation search.

 When the brake function is enabled, the dedicated output is released after the

duration defined in BP[N]. During this time, all motion reference commands are

ignored.

 After a motor fault (MF>0), the motor can be re-enabled only when the cause of

the fault is no longer present.

 If MO=1 fails with the “Amplifier not ready” error code (EC=66), the exact reason

for the fault can be found by querying the MF command.

 MO=0 disables the motor for 200 sampling time (about 10 milliseconds) until a

new MO=1 can restart the motor.

 In the “Ready to switch on”, “Switch on disabled” and “Fault” states (refer to the

Elmo CANopen Implementation Manual), MO=1 is blocked and returns an error.

These states can be command controlled only by a CAN master using the DS402

standard control word (object 0x6040).

 Setting MO=1 in the “Switched on” CAN state transfer the state of the state

machine to “Operation enabled.” Setting MO=0 in “Operation Enabled” or “Quick

stop active” state will transfer the state machine to “Switched on.” (Refer to CAN

object 0x6040 in the Elmo CANopen Implementation Manual).

Attributes: Type: Command/Parameter, Integer

Source: Program, RS-232, CANopen

Restrictions: None

Default values: 0, Volatile

Range: [0…1]

Unit modes: All

Activation: Immediate

Elmo SimplIQ Series - Page 107