User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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7 Profile Velocity Mode
The profile velocity mode is used to control the velocity of the drive without a special regard of the position.
It contains limit functions and trajectory generation.
The profile velocity mode covers the following sub-functions:
• Demand value input via trajectory generator.
• Monitoring of the profile velocity using a window-function.
• Monitoring of velocity actual value using a threshold.
The operation of the reference value generator and its input parameters include:
• Profile velocity
• Profile acceleration
• Motion profile type
7.1 Detailed Object Specifications
7.1.1 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.
In pv mode the control word does not contain any operation mode specific bits.
Structure of the Control Word
15 11 10 9 8 7 6 4 3 2 1 0
nu r r h fr r eo qs ev so
MSB LSB
Legend: nu=not used; r=reserved; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable
voltage; so=switch on.
Table 115: Structure of the Control Word in pv Mode
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