User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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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
h
, please see 5.0.1) are implemented on the
TMCC160:
• Homing mode (hm)
• Profile position mode (pp)
• Profile velocity mode (pv)
• Cyclic synchronous position mode (csp)
• Cyclic synchronous velocity mode (csv)
• Cyclic synchronous torque mode (cst)
5.0.1 Object 6060
h
: Modes of operation
This object indicates the requested operation mode. Supported operating modes are:
Value Definition
Value Mode
0 No mode
1 Profile position mode (pp)
3 Profile velocity mode (pv)
6 Homing mode (hm)
8 Cyclic synchronous position mode (csp)
9 Cyclic synchronous velocity mode (csv)
10 Cyclic synchronous torque mode (cst)
Table 70: Value Description (6060
h
)
The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running
in one of the supported operating modes and the operating mode is then switched to 0.
Object Description
Index Name Object Type Data Type
6060
h
Modes of operation Variable SIGNED8
Table 71: Object Description (6060
h
)
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