User Manual

PD42-x-1670 CANopen Firmware Manual • Firmware Version V2.0 | Document Revision V1.0 • 2018-Nov-07
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105 Object Description (6061
h
) . . . . . . . 42
106 Entry Description (6061
h
) . . . . . . . 42
107 Object Description (608F
h
) . . . . . . . 42
108 Entry Description (608F
h
) . . . . . . . 42
109 Object Description (6099
h
) . . . . . . . 43
110 Entry Description (6099
h
) . . . . . . . 43
111 Object Description (60FD
h
) . . . . . . 43
112 Entry Description (60FD
h
) . . . . . . . 43
113 Object Description (6502
h
) . . . . . . . 44
114 Entry Description (6502
h
) . . . . . . . 44
115
Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 46
116 Operation Mode specific Bits in pp Mode 46
117 Command Coding . . . . . . . . . . . . 46
118 Object Description (6040
h
in pp Mode) 46
119 Entry Description (6040
h
in pp Mode) 47
120 Structure of the Staus Word in pp Mode 47
121 Trinamic Specific Bits . . . . . . . . . . 47
122 Operation Mode specific Bits in pp Mode 47
123 State Coding . . . . . . . . . . . . . . . 48
124 Object Description (6041
h
in pp Mode) 48
125 Entry Description (6041
h
in pp Mode) 48
126 Object Description (6062
h
) . . . . . . . 48
127 Entry Description (6062
h
) . . . . . . . 49
128 Object Description (6063
h
) . . . . . . . 49
129 Entry Description (6063
h
) . . . . . . . 49
130 Object Description (6064
h
) . . . . . . . 49
131 Entry Description (6064
h
) . . . . . . . 49
132 Object Description (6067
h
) . . . . . . . 50
133 Entry Description (6067
h
) . . . . . . . 50
134 Object Description (606C
h
) . . . . . . 50
135 Entry Description (606C
h
) . . . . . . . 50
136 Object Description (607A
h
) . . . . . . 51
137 Entry Description (607A
h
) . . . . . . . 51
138 Object Description (607D
h
) . . . . . . 51
139 Entry Description (607D
h
) . . . . . . . 51
140 Object Description (6081
h
) . . . . . . . 52
141 Entry Description (6081
h
) . . . . . . . 52
142 Object Description (6082
h
) . . . . . . . 52
143 Entry Description (6082
h
) . . . . . . . 52
144 Object Description (6083
h
) . . . . . . . 52
145 Entry Description (6083
h
) . . . . . . . 53
146 Object Description (6084
h
) . . . . . . . 53
147 Entry Description (6084
h
) . . . . . . . 53
148 Object Description (6085
h
) . . . . . . . 53
149 Entry Description (6085
h
) . . . . . . . 53
150 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 55
151 Command Coding . . . . . . . . . . . . 56
152 Object Description (6040
h
in pv Mode) 56
153 Entry Description (6040
h
in pv Mode) 56
154 Structure of the Status Word in pv Mode 56
155 Trinamic Specific Bits . . . . . . . . . . 57
156 Operation Mode specific Bits in pv Mode 57
157 State Coding . . . . . . . . . . . . . . . 57
158 Object Description (6041
h
in pv Mode) 57
159 Entry Description (6041
h
in pv Mode) 58
160 Object Description (6062
h
) . . . . . . . 58
161 Entry Description (6062
h
) . . . . . . . 58
162 Object Description (6063
h
) . . . . . . . 58
163 Entry Description (6063
h
) . . . . . . . 58
164 Object Description (6064
h
) . . . . . . . 59
165 Entry Description (6064
h
) . . . . . . . 59
166 Object Description (606C
h
) . . . . . . 59
167 Entry Description (606C
h
) . . . . . . . 59
168 Object Description (607D
h
) . . . . . . 60
169 Entry Description (607D
h
) . . . . . . . 60
170 Object Description (6083
h
) . . . . . . . 60
171 Entry Description (6083
h
) . . . . . . . 60
172 Object Description (6085
h
) . . . . . . . 60
173 Entry Description (6085
h
) . . . . . . . 61
174 Object Description (60FF
h
) . . . . . . . 61
175 Entry Description (60FF
h
) . . . . . . . 61
176 Supported CANopen Homing Methods 64
177 Homing Methods 17 – 21 . . . . . . . 64
178 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 65
179 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 65
180 Command Coding . . . . . . . . . . . . 65
181 Object Description (6040
h
in hm Mode) 66
182 Entry Description (6040
h
in hm Mode) 66
183 Structure of the Status Word in hm Mode 66
184 Trinamic Specific Bits . . . . . . . . . . 66
185 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 67
186 State Coding . . . . . . . . . . . . . . . 67
187 Object Description (6041
h
in hm Mode) 67
188 Entry Description (6041
h
in hm Mode) 67
189 Object Description (606C
h
) . . . . . . 68
190 Entry Description (606C
h
) . . . . . . . 68
191 Object Description (607C
h
) . . . . . . 68
192 Entry Description (607C
h
) . . . . . . . 68
193 Object Description (6098
h
) . . . . . . . 68
194 Entry Description (6098
h
) . . . . . . . 69
195 Object Description (6099
h
) . . . . . . . 69
196 Entry Description (6099
h
) . . . . . . . 69
197 Object Description (609A
h
) . . . . . . 69
198 Entry Description (609A
h
) . . . . . . . 70
199 Object Description (2100
h
) . . . . . . . 70
200 Entry Description (2100
h
) . . . . . . . 70
201 Structure of the Control Word in cst
Mode . . . . . . . . . . . . . . . . . . . 72
202 Command Coding . . . . . . . . . . . . 72
203 Object Description (6040
h
in cst Mode) 73
204 Entry Description (6040
h
in cst Mode) 73
205 Structure of the Status Word in cst Mode 73
206 Trinamic Specific Bits . . . . . . . . . . 73
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