User Manual

PD-1180 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
107 / 110
212 Object Description (6081
h
) . . . . . . . 72
213 Entry Description (6081
h
) . . . . . . . 72
214 Object Description (6082
h
) . . . . . . . 72
215 Entry Description (6082
h
) . . . . . . . 72
216 Object Description (6083
h
) . . . . . . . 73
217 Entry Description (6083
h
) . . . . . . . 73
218 Object Description (6084
h
) . . . . . . . 73
219 Entry Description (6084
h
) . . . . . . . 73
220 Object Description (6085
h
) . . . . . . . 74
221 Entry Description (6085
h
) . . . . . . . 74
222 Structure of the Control Word in vl Mode 75
223 Command Coding . . . . . . . . . . . . 76
224 Object Description (6040
h
in vl Mode) 76
225 Entry Description (6040
h
in vl Mode) . 76
226 Structure of the Status Word in vl Mode 76
227 Trinamic Specific Bits . . . . . . . . . . 77
228 Operation Mode specific Bits in vl Mode 77
229 State Coding . . . . . . . . . . . . . . . 77
230 Object Description (6041
h
in vl Mode) 77
231 Entry Description (6041
h
in vl Mode) . 78
232 Object Description (6042
h
) . . . . . . . 78
233 Entry Description (6042
h
) . . . . . . . 78
234 Object Description (6043
h
) . . . . . . . 78
235 Entry Description (6043
h
) . . . . . . . 78
236 Object Description (6044
h
) . . . . . . . 79
237 Entry Description (6044
h
) . . . . . . . 79
238 Object Description (6046
h
) . . . . . . . 79
239 Entry Description (6046
h
) . . . . . . . 79
240 Object Description (6048
h
) . . . . . . . 80
241 Entry Description (6048
h
) . . . . . . . 80
242 Object Description (6049
h
) . . . . . . . 80
243 Entry Description (6049
h
) . . . . . . . 80
244 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 82
245 Command Coding . . . . . . . . . . . . 83
246 Object Description (6040
h
in pv Mode) 83
247 Entry Description (6040
h
in pv Mode) 83
248 Structure of the Status Word in pv Mode 83
249 Trinamic Specific Bits . . . . . . . . . . 84
250 Operation Mode specific Bits in pv Mode 84
251 State Coding . . . . . . . . . . . . . . . 84
252 Object Description (6041
h
in pv Mode) 84
253 Entry Description (6041
h
in pv Mode) 85
254 Object Description (6062
h
) . . . . . . . 85
255 Entry Description (6062
h
) . . . . . . . 85
256 Object Description (6063
h
) . . . . . . . 85
257 Entry Description (6063
h
) . . . . . . . 85
258 Object Description (6064
h
) . . . . . . . 86
259 Entry Description (6064
h
) . . . . . . . 86
260 Object Description (6065
h
) . . . . . . . 86
261 Entry Description (6065
h
) . . . . . . . 86
262 Object Description (606C
h
) . . . . . . . 87
263 Entry Description (606C
h
) . . . . . . . 87
264 Object Description (607D
h
) . . . . . . 87
265 Entry Description (607D
h
) . . . . . . . 87
266 Object Description (6083
h
) . . . . . . . 88
267 Entry Description (6083
h
) . . . . . . . 88
268 Object Description (6085
h
) . . . . . . . 88
269 Entry Description (6085
h
) . . . . . . . 88
270 Object Description (60FF
h
) . . . . . . . 88
271 Entry Description (60FF
h
) . . . . . . . . 89
272 Supported CANopen Homing Methods 91
273 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 96
274 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 96
275 Command Coding . . . . . . . . . . . . 96
276 Object Description (6040
h
in hm Mode) 97
277 Entry Description (6040
h
in hm Mode) 97
278 Structure of the Status Word in hm
Mode . . . . . . . . . . . . . . . . . . . 97
279 Trinamic Specific Bits . . . . . . . . . . 97
280 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 98
281 State Coding . . . . . . . . . . . . . . . 98
282 Object Description (6041
h
in hm Mode) 98
283 Entry Description (6041
h
in hm Mode) 98
284 Object Description (606C
h
) . . . . . . . 99
285 Entry Description (606C
h
) . . . . . . . 99
286 Object Description (607C
h
) . . . . . . . 99
287 Entry Description (607C
h
) . . . . . . . 99
288 Object Description (6098
h
) . . . . . . . 100
289 Entry Description (6098
h
) . . . . . . . 100
290 Object Description (6099
h
) . . . . . . . 100
291 Entry Description (6099
h
) . . . . . . . 100
292 Object Description (609A
h
) . . . . . . . 101
293 Entry Description (609A
h
) . . . . . . . 101
294 Emergency Messages (EMCY) . . . . . 103
295 Firmware Revision . . . . . . . . . . . . 110
296 Document Revision . . . . . . . . . . . 110
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com