User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 11
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The Figure 2.2 shows the situation of the state machine in this device profile.
Device control state machine
CANopen Communication Profile CiA DS301
Modes of operation:
[used in this manual / according
to CiA DSP 402]
Homing mode
Profile position mode
Profile velocity mode
Velocity mode
CANopen device profile CiA DSP 402
CAN
Figure 2.2 Communication architecture