User Manual

TMCC160 CANopen

Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29

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Entry Description

Sub- PDO

index Name Mapping Min Max Default Unit Access

1 ADC_IN_0 no 0 4095 0 R

2 ADC_IN_1 no 0 4095 0 R

3 ADC_phase_A no 0 4095 0 R

4 ADC_phase_B no 0 4095 0 R

5 ADC_phase_C no 0 4095 0 R

6 ADC_VSupply no 0 4095 0 R

7 ADC_Temp no 0 4095 0 R

Table 95: Entry Description (270E

)

5 Proﬁle speciﬁc area

The proﬁle segment contains CiA-402 standard motion control objects. These objects control the motion

control functions of the TMCC160. Since it is not possible to operate the modes in parallel, the user is

able to activate the required function by selecting a mode of operation. The control device writes to the

modes of operation object in order to select the operation mode. The drive device provides the modes

of operation display object to indicate the actual activated operation mode. Controlword, statusword,

and set-points are used mode-speciﬁc. This implies the responsibility of the control device to avoid

inconsistencies and erroneous behavior.

The following operating modes (selectable via object 6060

, please see 5.1.6) are implemented on the

TMCC160:

• Proﬁle position mode (pp)

• Proﬁle velocity mode (pv)

• Cyclic torque mode (cst)

• Homing mode (hm)

5.1 Detailed object speciﬁcations

5.1.1 Object 605A

: Quick Stop Option Code

This object indicates what action is performed when the quick stop function is executed. The slow down

ramp is the deceleration value of the used mode of operation. The following quick stop option codes are

supported in the current version of the CANopen ﬁrmware:

1: Slow down on slow down ramp and transit into switch on disabled

2: Slow down on quick stop ramp and transit into switch on disabled

5: Slow down on slow down ramp and stay in quick stop active)

6: Slow down on quick stop ramp and stay in quick stop active

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