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 cst Mode
Bit Name Definition
10 Reserved Not used.
12 Target torque ignored 0: Target torque ignored.
1: Target torque used as input to control loop.
13 Reserved Not used.
Table 216: Operation Mode specific Bits in cst 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 217: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 218: Object Description (6041
h
in cst Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 219: Entry Description (6041
h
in cst Mode)
11.1.3 Object 6071
h
: Target Torque
This object gives the target motor current.
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