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 csp Mode
Bit Name Definition
10 Reserved Not used.
12 Target position ignored 0: Target position ignored.
1: Target position used as input to position controller.
13 Following error 0: No following error.
1: Following error.
Table 164: Operation Mode specific Bits in csp 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 165: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 166: Object Description (6041
h
in csp Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 167: Entry Description (6041
h
in csp Mode)
9.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in hall or encoder steps. Object
6062h indicates the actual position that the motor should have. It is not to be confused with objects 6063h
and 6064h.
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