User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04

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11 Cyclic synchronous Torque Mode

The cyclic synchronous torque mode is used to directly control the torque of the motor, without the need

for position or velocity control. It contains limit functions, but not a trajectory generator.

The cyclic synchronous torque mode covers the following sub-functions:

• Demand value input directly via an object.

• Monitoring and limiting the torque.

11.1 Detailed Object Speciﬁcations

11.1.1 Object 6040

: 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 torque 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 210: Structure of the Control Word in cst 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 211: Command Coding

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