User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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10 Cyclic synchonous Velocity Mode
The cyclic synchronous velocity mode is used to directly control the velocity 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 velocity
to the drive device, which performs velocity control and torque control.
10.1 Detailed Object Specifications
10.1.1 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 csv 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 192: Structure of the Control Word in csv 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 193: Command Coding
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