LinMot latest Drive support DS402 homing & Torque control

LinMot latest Drive support DS402 homing & Torque control

LinMot have updated their firmware to include Position, Speed & Torque control now. The respective CoE objects are mapped in the fixed PDO profiles.
The below LinMot Drives with Firmware 6.10 able to support this profiles




In the attached EC_EXTEND, TARGET_CTRL_MODE (0x6060) & ACTUAL_CTRL_MODE (0x6061) are mapped to VR's. User can then switch to DS402 homing mode by setting VR(2000) to 6. Then switch to Torque control mode by setting ATYPE=67 & VR(2000) to 10
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