Test run After configuring and the auto setup, a test run can be performed. As an example, the Velocity operating mode is used. The values are transferred from your EtherCAT master to the controller. After every transfer, the master should use the status objects of the controller to ensure successful parameterization. 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".
