User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
82 / 86
105 Entry Description (605E
h
) . . . . . . . 41
106 Object Description (6060
h
) . . . . . . . 41
107 Entry Description (6060
h
) . . . . . . . 41
108 Object Description (6061
h
) . . . . . . . 42
109 Entry Description (6061
h
) . . . . . . . 42
110 Object Description (608F
h
) . . . . . . . 42
111 Entry Description (608F
h
) . . . . . . . 42
112 Object Description (6099
h
) . . . . . . . 43
113 Entry Description (6099
h
) . . . . . . . 43
114 Object Description (60FD
h
) . . . . . . 43
115 Entry Description (60FD
h
) . . . . . . . 43
116 Object Description (6502
h
) . . . . . . . 44
117 Entry Description (6502
h
) . . . . . . . 44
118 Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 46
119 Operation Mode specific Bits in pp Mode 46
120 Command Coding . . . . . . . . . . . . 46
121 Object Description (6040
h
in pp Mode) 46
122 Entry Description (6040
h
in pp Mode) 47
123 Structure of the Staus Word in pp Mode 47
124 Trinamic Specific Bits . . . . . . . . . . 47
125 Operation Mode specific Bits in pp Mode 47
126 State Coding . . . . . . . . . . . . . . . 48
127 Object Description (6041
h
in pp Mode) 48
128 Entry Description (6041
h
in pp Mode) 48
129 Object Description (6062
h
) . . . . . . . 48
130 Entry Description (6062
h
) . . . . . . . 49
131 Object Description (6063
h
) . . . . . . . 49
132 Entry Description (6063
h
) . . . . . . . 49
133 Object Description (6064
h
) . . . . . . . 49
134 Entry Description (6064
h
) . . . . . . . 49
135 Object Description (6067
h
) . . . . . . . 50
136 Entry Description (6067
h
) . . . . . . . 50
137 Object Description (606C
h
) . . . . . . 50
138 Entry Description (606C
h
) . . . . . . . 50
139 Object Description (607A
h
) . . . . . . 51
140 Entry Description (607A
h
) . . . . . . . 51
141 Object Description (607D
h
) . . . . . . 51
142 Entry Description (607D
h
) . . . . . . . 51
143 Object Description (6081
h
) . . . . . . . 52
144 Entry Description (6081
h
) . . . . . . . 52
145 Object Description (6082
h
) . . . . . . . 52
146 Entry Description (6082
h
) . . . . . . . 52
147 Object Description (6083
h
) . . . . . . . 52
148 Entry Description (6083
h
) . . . . . . . 53
149 Object Description (6084
h
) . . . . . . . 53
150 Entry Description (6084
h
) . . . . . . . 53
151 Object Description (6085
h
) . . . . . . . 53
152 Entry Description (6085
h
) . . . . . . . 53
153 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 55
154 Command Coding . . . . . . . . . . . . 56
155 Object Description (6040
h
in pv Mode) 56
156 Entry Description (6040
h
in pv Mode) 56
157 Structure of the Status Word in pv Mode 56
158 Trinamic Specific Bits . . . . . . . . . . 57
159 Operation Mode specific Bits in pv Mode 57
160 State Coding . . . . . . . . . . . . . . . 57
161 Object Description (6041
h
in pv Mode) 57
162 Entry Description (6041
h
in pv Mode) 58
163 Object Description (6062
h
) . . . . . . . 58
164 Entry Description (6062
h
) . . . . . . . 58
165 Object Description (6063
h
) . . . . . . . 58
166 Entry Description (6063
h
) . . . . . . . 58
167 Object Description (6064
h
) . . . . . . . 59
168 Entry Description (6064
h
) . . . . . . . 59
169 Object Description (606C
h
) . . . . . . 59
170 Entry Description (606C
h
) . . . . . . . 59
171 Object Description (607D
h
) . . . . . . 60
172 Entry Description (607D
h
) . . . . . . . 60
173 Object Description (6083
h
) . . . . . . . 60
174 Entry Description (6083
h
) . . . . . . . 60
175 Object Description (6085
h
) . . . . . . . 60
176 Entry Description (6085
h
) . . . . . . . 61
177 Object Description (60FF
h
) . . . . . . . 61
178 Entry Description (60FF
h
) . . . . . . . 61
179 Supported CANopen Homing Methods 64
180 Homing Methods 17 – 21 . . . . . . . 64
181 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 65
182 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 65
183 Command Coding . . . . . . . . . . . . 65
184 Object Description (6040
h
in hm Mode) 66
185 Entry Description (6040
h
in hm Mode) 66
186 Structure of the Status Word in hm Mode 66
187 Trinamic Specific Bits . . . . . . . . . . 66
188 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 67
189 State Coding . . . . . . . . . . . . . . . 67
190 Object Description (6041
h
in hm Mode) 67
191 Entry Description (6041
h
in hm Mode) 67
192 Object Description (606C
h
) . . . . . . 68
193 Entry Description (606C
h
) . . . . . . . 68
194 Object Description (607C
h
) . . . . . . 68
195 Entry Description (607C
h
) . . . . . . . 68
196 Object Description (6098
h
) . . . . . . . 68
197 Entry Description (6098
h
) . . . . . . . 69
198 Object Description (6099
h
) . . . . . . . 69
199 Entry Description (6099
h
) . . . . . . . 69
200 Object Description (609A
h
) . . . . . . 69
201 Entry Description (609A
h
) . . . . . . . 70
202 Object Description (2100
h
) . . . . . . . 70
203 Entry Description (2100
h
) . . . . . . . 70
204 Structure of the Control Word in cst
Mode . . . . . . . . . . . . . . . . . . . 72
205 Command Coding . . . . . . . . . . . . 72
206 Object Description (6040
h
in cst Mode) 73
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