User Manual

PD57/60-1260 CANopen
®
Firmware Manual • Firmware Version V3.21 | Document Revision V1.00 • 2017-DEC-21
113 / 117
212 Object Description (6040
h
in pp Mode) 71
213 Entry Description (6040
h
in pp Mode) 71
214 Structure of the Staus Word in pp Mode 71
215 Trinamic Specific Bits . . . . . . . . . . 71
216 Operation Mode specific Bits in pp Mode 72
217 State Coding . . . . . . . . . . . . . . . 72
218 Object Description (6041
h
in pp Mode) 72
219 Entry Description (6041
h
in pp Mode) 72
220 Object Description (6062
h
) . . . . . . . 73
221 Entry Description (6062
h
) . . . . . . . 73
222 Object Description (6063
h
) . . . . . . . 73
223 Entry Description (6063
h
) . . . . . . . 73
224 Object Description (6064
h
) . . . . . . . 73
225 Entry Description (6064
h
) . . . . . . . 74
226 Object Description (6065
h
) . . . . . . . 74
227 Entry Description (6065
h
) . . . . . . . 74
228 Object Description (6067
h
) . . . . . . . 75
229 Entry Description (6067
h
) . . . . . . . 75
230 Object Description (6068
h
) . . . . . . . 75
231 Entry Description (6068
h
) . . . . . . . 75
232 Object Description (606C
h
) . . . . . . 75
233 Entry Description (606C
h
) . . . . . . . 76
234 Object Description (607A
h
in pp Mode) 76
235 Entry Description (607A
h
in pp Mode) 76
236 Object Description (607D
h
) . . . . . . 76
237 Entry Description (607D
h
) . . . . . . . 77
238 Object Description (6081
h
) . . . . . . . 77
239 Entry Description (6081
h
) . . . . . . . 77
240 Object Description (6082
h
) . . . . . . . 77
241 Entry Description (6082
h
) . . . . . . . 77
242 Object Description (6083
h
) . . . . . . . 78
243 Entry Description (6083
h
) . . . . . . . 78
244 Object Description (6084
h
) . . . . . . . 78
245 Entry Description (6084
h
) . . . . . . . 78
246 Object Description (6085
h
) . . . . . . . 79
247 Entry Description (6085
h
) . . . . . . . 79
248 Bit Definitions of Object 60F2
h
. . . . 79
249 Object Description (60F2
h
) . . . . . . . 79
250 Entry Description (60F2
h
) . . . . . . . 79
251 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 81
252 Command Coding . . . . . . . . . . . . 82
253 Object Description (6040
h
in pv Mode) 82
254 Entry Description (6040
h
in pv Mode) 82
255 Structure of the Status Word in pv Mode 82
256 Trinamic Specific Bits . . . . . . . . . . 83
257 Operation Mode specific Bits in pv Mode 83
258 State Coding . . . . . . . . . . . . . . . 83
259 Object Description (6041
h
in pv Mode) 83
260 Entry Description (6041
h
in pv Mode) 84
261 Object Description (6062
h
) . . . . . . . 84
262 Entry Description (6062
h
) . . . . . . . 84
263 Object Description (6063
h
) . . . . . . . 84
264 Entry Description (6063
h
) . . . . . . . 84
265 Object Description (6064
h
) . . . . . . . 85
266 Entry Description (6064
h
) . . . . . . . 85
267 Object Description (6065
h
) . . . . . . . 85
268 Entry Description (6065
h
) . . . . . . . 85
269 Object Description (606C
h
) . . . . . . 86
270 Entry Description (606C
h
) . . . . . . . 86
271 Object Description (607D
h
) . . . . . . 86
272 Entry Description (607D
h
) . . . . . . . 86
273 Object Description (6083
h
) . . . . . . . 87
274 Entry Description (6083
h
) . . . . . . . 87
275 Object Description (6085
h
) . . . . . . . 87
276 Entry Description (6085
h
) . . . . . . . 87
277 Object Description (60FF
h
) . . . . . . . 88
278 Entry Description (60FF
h
) . . . . . . . 88
279 Supported CANopen Homing Methods 90
280 Homing Methods 17 – 21 . . . . . . . 92
281 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 94
282 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 94
283 Command Coding . . . . . . . . . . . . 94
284 Object Description (6040
h
in hm Mode) 95
285 Entry Description (6040
h
in hm Mode) 95
286 Structure of the Status Word in hm Mode 95
287 Trinamic Specific Bits . . . . . . . . . . 95
288
Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 96
289 State Coding . . . . . . . . . . . . . . . 96
290 Object Description (6041
h
in hm Mode) 96
291 Entry Description (6041
h
in hm Mode) 96
292 Object Description (606C
h
) . . . . . . 97
293 Entry Description (606C
h
) . . . . . . . 97
294 Object Description (607C
h
) . . . . . . 97
295 Entry Description (607C
h
) . . . . . . . 97
296 Object Description (6098
h
) . . . . . . . 98
297 Entry Description (6098
h
) . . . . . . . 98
298 Object Description (6099
h
) . . . . . . . 98
299 Entry Description (6099
h
) . . . . . . . 98
300 Object Description (609A
h
) . . . . . . 99
301 Entry Description (609A
h
) . . . . . . . 99
302 Object Description (2100
h
) . . . . . . . 99
303 Entry Description (2100
h
) . . . . . . . 99
304 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 101
305 Command Coding . . . . . . . . . . . . 102
306 Object Description (6040
h
in csp Mode) 102
307 Entry Description (6040
h
in csp Mode) 102
308 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 102
309 Trinamic Specific Bits . . . . . . . . . . 103
310 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 103
311 State Coding . . . . . . . . . . . . . . . 103
312 Object Description (6041
h
in csp Mode) 103
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