User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
107 / 106
212 Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 69
213 Operation Mode specific Bits in pp Mode 69
214 Command Coding . . . . . . . . . . . . 69
215 Object Description (6040
h
in pp Mode) 70
216 Entry Description (6040
h
in pp Mode) 70
217 Structure of the Staus Word in pp Mode 70
218 Trinamic Specific Bits . . . . . . . . . . 70
219 Operation Mode specific Bits in pp Mode 71
220 State Coding . . . . . . . . . . . . . . . 71
221 Object Description (6041
h
in pp Mode) 71
222 Entry Description (6041
h
in pp Mode) 71
223 Object Description (6062
h
) . . . . . . . 72
224 Entry Description (6062
h
) . . . . . . . 72
225 Object Description (6063
h
) . . . . . . . 72
226 Entry Description (6063
h
) . . . . . . . 72
227 Object Description (6064
h
) . . . . . . . 72
228 Entry Description (6064
h
) . . . . . . . 73
229 Object Description (6065
h
) . . . . . . . 73
230 Entry Description (6065
h
) . . . . . . . 73
231 Object Description (6067
h
) . . . . . . . 74
232 Entry Description (6067
h
) . . . . . . . 74
233 Object Description (6068
h
) . . . . . . . 74
234 Entry Description (6068
h
) . . . . . . . 74
235 Object Description (606C
h
) . . . . . . 74
236 Entry Description (606C
h
) . . . . . . . 75
237 Object Description (607A
h
in pp Mode) 75
238 Entry Description (607A
h
in pp Mode) 75
239 Object Description (607D
h
) . . . . . . 75
240 Entry Description (607D
h
) . . . . . . . 76
241 Object Description (6081
h
) . . . . . . . 76
242 Entry Description (6081
h
) . . . . . . . 76
243 Object Description (6082
h
) . . . . . . . 76
244 Entry Description (6082
h
) . . . . . . . 76
245 Object Description (6083
h
) . . . . . . . 77
246 Entry Description (6083
h
) . . . . . . . 77
247 Object Description (6084
h
) . . . . . . . 77
248 Entry Description (6084
h
) . . . . . . . 77
249 Object Description (6085
h
) . . . . . . . 78
250 Entry Description (6085
h
) . . . . . . . 78
251 Bit Definitions of Object 60F2
h
. . . . 78
252 Object Description (60F2
h
) . . . . . . . 78
253 Entry Description (60F2
h
) . . . . . . . 78
254 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 80
255 Command Coding . . . . . . . . . . . . 81
256 Object Description (6040
h
in pv Mode) 81
257 Entry Description (6040
h
in pv Mode) 81
258 Structure of the Status Word in pv Mode 81
259 Trinamic Specific Bits . . . . . . . . . . 82
260 Operation Mode specific Bits in pv Mode 82
261 State Coding . . . . . . . . . . . . . . . 82
262 Object Description (6041
h
in pv Mode) 82
263 Entry Description (6041
h
in pv Mode) 83
264 Object Description (6062
h
) . . . . . . . 83
265 Entry Description (6062
h
) . . . . . . . 83
266 Object Description (6063
h
) . . . . . . . 83
267 Entry Description (6063
h
) . . . . . . . 83
268 Object Description (6064
h
) . . . . . . . 84
269 Entry Description (6064
h
) . . . . . . . 84
270 Object Description (6065
h
) . . . . . . . 84
271 Entry Description (6065
h
) . . . . . . . 84
272 Object Description (606C
h
) . . . . . . 85
273 Entry Description (606C
h
) . . . . . . . 85
274 Object Description (607D
h
) . . . . . . 85
275 Entry Description (607D
h
) . . . . . . . 85
276 Object Description (6083
h
) . . . . . . . 86
277 Entry Description (6083
h
) . . . . . . . 86
278 Object Description (6085
h
) . . . . . . . 86
279 Entry Description (6085
h
) . . . . . . . 86
280 Object Description (60FF
h
) . . . . . . . 87
281 Entry Description (60FF
h
) . . . . . . . 87
282 Supported CANopen Homing Methods 89
283 Homing Methods 17 – 21 . . . . . . . 91
284
Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 93
285 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 93
286 Command Coding . . . . . . . . . . . . 93
287 Object Description (6040
h
in hm Mode) 94
288 Entry Description (6040
h
in hm Mode) 94
289 Structure of the Status Word in hm Mode 94
290 Trinamic Specific Bits . . . . . . . . . . 94
291 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 95
292 State Coding . . . . . . . . . . . . . . . 95
293 Object Description (6041
h
in hm Mode) 95
294 Entry Description (6041
h
in hm Mode) 95
295 Object Description (606C
h
) . . . . . . 96
296 Entry Description (606C
h
) . . . . . . . 96
297 Object Description (607C
h
) . . . . . . 96
298 Entry Description (607C
h
) . . . . . . . 96
299 Object Description (6098
h
) . . . . . . . 97
300 Entry Description (6098
h
) . . . . . . . 97
301 Object Description (6099
h
) . . . . . . . 97
302 Entry Description (6099
h
) . . . . . . . 97
303 Object Description (609A
h
) . . . . . . 98
304 Entry Description (609A
h
) . . . . . . . 98
305 Object Description (2100
h
) . . . . . . . 98
306 Entry Description (2100
h
) . . . . . . . 98
307 Emergency Messages (EMCY) . . . . . 101
308 Document Revision . . . . . . . . . . . 106
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