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 pv Mode
Bit Name Definition
10 Target reached Indicates that the target speed has been reached.
12 Speed Not supported.
13 Max. slippage error Not supported.
Table 198: Operation Mode specific Bits in pv 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 199: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 200: Object Description (6041
h
in pv Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 201: Entry Description (6041
h
in pv Mode)
10.1.3 Object 606B
h
: Velocity Demand Value
This objects provides the output value of the trajectory generator.
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