User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Operation Mode specific Bits in hm Mode
Bit Name Definition
10 Target reached Set when the zero position has been found or homing has
been stopped by setting controlword bit 4 to zero.
12 Home attained Set when zero position has been found.
13 Homing error Not supported.
Table 142: Operation Mode specific Bits in hm Mode
State Coding
Status word FSA state
xxxx xxxx x0xx 0000
h
Not ready to switch on
xxxx xxxx x1xx 0000
h
Switch on disabled
xxxx xxxx x01x 0001
h
Ready to switch on
xxxx xxxx x01x 0011
h
Switched on
xxxx xxxx x01x 0111
h
Operation enabled
xxxx xxxx x00x 0111
h
Quick stop active
xxxx xxxx x0xx 1111
h
Fault reaction active
xxxx xxxx x0xx 1000
h
Fault
Table 143: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 144: Object Description (6041
h
in hm Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above.
Table 145: Entry Description (6041
h
in hm Mode)
8.2.3 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value derived from the velocity sensor.
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