User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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9 Cyclic synchonous Position Mode
The cyclic synchronous position mode is used to directly control the position of the motor. It contains
limit functions, but not a trajectory generator. The trajectory generator is located in the control device
(the master), not in the drive device. In cyclic synchronous manner, the control device provides a target
position to the drive device, which performs position control, velocity control and torque control.
The cyclic synchronous position mode covers the following sub-functions:
• Position demand value input directly via an object.
• Monitoring of the position.
• Limiting the position using the software limits or the hardware limit switches.
9.1 Detailed Object Specifications
9.1.1 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. The cyclic synchronous position mode does not use any mode specific bits of the control word.
Structure of the Control Word
15 9 8 7 6 4 3 2 1 0
nu h fr nu eo qs ev so
MSB LSB
Legend: nu=not used; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable voltage;
so=switch on.
Table 158: Structure of the Control Word in csp 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 159: Command Coding
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