User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Power disabled
Fault
Power enabled
Controlword 6040h
Statusword 6041h
0
1
2
3
4
5
6
7
8
9
10 12
16
11
13
13
13
automatically
15
14
automatically
automatically
Start
Not ready to switch on
Switch on disable
Ready to switch on
Switched on
Operation enable
Quick stop active
Fault reaction active
Fault
Figure 4: DS402 Finite State Machine
Notes on state transitions:
• Commands directing a change in state are processed completely and the new state achieved before
additional state change commands are processed.
• Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs automatically,
too. All other state changes must be directed by the host.
• Drive function disabled indicates that no current is being supplied to the motor.
• Drive function enabled indicates that current is available for the motor and profile position and
profile velocity reference values may be processed.
6.2 Detailed Object Specifications
6.2.1 Object 6040
h
: Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 4 for
detailed information.
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