User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Object Description
Index Name Object Type Data Type
6040
h
Controlword Variable UNSIGNED16
Table 194: Object Description (6040
h
in csv Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See command coding above.
Table 195: Entry Description (6040
h
in csv Mode)
10.1.2 Object 6041
h
: Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 3 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
dir mot oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 196: Structure of the Status Word in pv Mode
Trinamic Specific Bits
Bit Name Definition
14 Motor activity 0: Motor stands still.
1: Motor rotates.
15 Direction of rotation This bit shows the direction of rotation.
Table 197: Trinamic Specific Bits
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