User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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212 Object Description (6081
h
) . . . . . . . 71
213 Entry Description (6081
h
) . . . . . . . 71
214 Object Description (6082
h
) . . . . . . . 71
215 Entry Description (6082
h
) . . . . . . . 71
216 Object Description (6083
h
) . . . . . . . 72
217 Entry Description (6083
h
) . . . . . . . 72
218 Object Description (6084
h
) . . . . . . . 72
219 Entry Description (6084
h
) . . . . . . . 72
220 Object Description (6085
h
) . . . . . . . 73
221 Entry Description (6085
h
) . . . . . . . 73
222 Structure of the Control Word in vl Mode 74
223 Command Coding . . . . . . . . . . . . 75
224 Object Description (6040
h
in vl Mode) 75
225 Entry Description (6040
h
in vl Mode) . 75
226 Structure of the Status Word in vl Mode 75
227 Trinamic Specific Bits . . . . . . . . . . 76
228 Operation Mode specific Bits in vl Mode 76
229 State Coding . . . . . . . . . . . . . . . 76
230 Object Description (6041
h
in vl Mode) 76
231 Entry Description (6041
h
in vl Mode) . 77
232 Object Description (6042
h
) . . . . . . . 77
233 Entry Description (6042
h
) . . . . . . . 77
234 Object Description (6043
h
) . . . . . . . 77
235 Entry Description (6043
h
) . . . . . . . 77
236 Object Description (6044
h
) . . . . . . . 78
237 Entry Description (6044
h
) . . . . . . . 78
238 Object Description (6046
h
) . . . . . . . 78
239 Entry Description (6046
h
) . . . . . . . 78
240 Object Description (6048
h
) . . . . . . . 79
241 Entry Description (6048
h
) . . . . . . . 79
242 Object Description (6049
h
) . . . . . . . 79
243 Entry Description (6049
h
) . . . . . . . 79
244 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 81
245 Command Coding . . . . . . . . . . . . 82
246 Object Description (6040
h
in pv Mode) 82
247 Entry Description (6040
h
in pv Mode) 82
248 Structure of the Status Word in pv Mode 82
249 Trinamic Specific Bits . . . . . . . . . . 83
250 Operation Mode specific Bits in pv Mode 83
251 State Coding . . . . . . . . . . . . . . . 83
252 Object Description (6041
h
in pv Mode) 83
253 Entry Description (6041
h
in pv Mode) 84
254 Object Description (6062
h
) . . . . . . . 84
255 Entry Description (6062
h
) . . . . . . . 84
256 Object Description (6063
h
) . . . . . . . 84
257 Entry Description (6063
h
) . . . . . . . 84
258 Object Description (6064
h
) . . . . . . . 85
259 Entry Description (6064
h
) . . . . . . . 85
260 Object Description (6065
h
) . . . . . . . 85
261 Entry Description (6065
h
) . . . . . . . 85
262 Object Description (606C
h
) . . . . . . . 86
263 Entry Description (606C
h
) . . . . . . . 86
264 Object Description (607D
h
) . . . . . . 86
265 Entry Description (607D
h
) . . . . . . . 86
266 Object Description (6083
h
) . . . . . . . 87
267 Entry Description (6083
h
) . . . . . . . 87
268 Object Description (6085
h
) . . . . . . . 87
269 Entry Description (6085
h
) . . . . . . . 87
270 Object Description (60FF
h
) . . . . . . . 87
271 Entry Description (60FF
h
) . . . . . . . . 88
272 Supported CANopen Homing Methods 90
273 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 95
274 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 95
275 Command Coding . . . . . . . . . . . . 95
276 Object Description (6040
h
in hm Mode) 96
277 Entry Description (6040
h
in hm Mode) 96
278 Structure of the Status Word in hm
Mode . . . . . . . . . . . . . . . . . . . 96
279 Trinamic Specific Bits . . . . . . . . . . 96
280 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 97
281 State Coding . . . . . . . . . . . . . . . 97
282 Object Description (6041
h
in hm Mode) 97
283 Entry Description (6041
h
in hm Mode) 97
284 Object Description (606C
h
) . . . . . . . 98
285 Entry Description (606C
h
) . . . . . . . 98
286 Object Description (607C
h
) . . . . . . . 98
287 Entry Description (607C
h
) . . . . . . . 98
288 Object Description (6098
h
) . . . . . . . 99
289 Entry Description (6098
h
) . . . . . . . 99
290 Object Description (6099
h
) . . . . . . . 99
291 Entry Description (6099
h
) . . . . . . . 99
292 Object Description (609A
h
) . . . . . . . 100
293 Entry Description (609A
h
) . . . . . . . 100
294 Emergency Messages (EMCY) . . . . . 102
295 Firmware Revision . . . . . . . . . . . . 109
296 Document Revision . . . . . . . . . . . 109
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