User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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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 3 for
detailed information.
Structure of the Control Word
15 11 10 9 8 7 6 4 3 2 1 0
nu r oms h fr oms eo qs ev so
MSB LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; eo=enable opera-
tion; qs=quick stop; ev=enable voltage; so=switch on.
Table 78: Structure of the Control Word in pp Mode
Operation Mode specific Bits in pp Mode
Bit Name Definition
4 New set point 0-to-1: the next positioning will be started.
5 Change immediately Not supported.
6 Absolute / relative 0: New position is absolute.
1: New position is relative.
9 Change set point Not supported.
Table 79: Operation Mode specific Bits in pp Mode
Command Coding
Command Bits of Control Word Transitions
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 x 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on & enable operation 0 1 1 1 1 3, 4
Disable voltage 0 x x 0 x 7,9,10,12
Quick stop 0 x 0 1 x 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset 0-to-1 x x x x 15
Table 80: Command Coding
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