User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 24
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4 Device Profile Objects (CiA402) and Modes of Operation
The PDS (power drive system) behavior depends on the activated mode of operation. The PDS
implements several modes of operation. Since it is not possible to operate the modes in parallel, the
user is able to activate the required function by selecting a mode of operation.
The control device writes to the modes of operation object in order to select the operation mode. The
drive device provides the modes of operation display object to indicate the actual activated operation
mode. Controlword, statusword, and set-points are used mode-specific. This implies the responsibility of
the control device to avoid inconsistencies and erroneous behavior.
THE FOLLOWING OPERATION MODES CAN BE CHOSEN:
- Profile position mode
- Homing mode
- Velocity mode
- Profile velocity mode
Please refer to object 6060
h
(section 4.1.6) for information about how to choose an operation mode.
4.1 Detailed Object Specifications
4.1.1 Object 605A
h
: Quick Stop Option Code
This object indicates what action is performed when the quick stop function is executed. The slow down
ramp is the deceleration value of the used mode of operations. The following quick stop option codes are
supported in the current version of the CANopen firmware:
VALUE DEFINITION
Value
Definition
1
Slow down on slow down ramp and transit into switch on disabled
2
Slow down on quick stop ramp and transit into switch on disabled
5
Slow down on slow down ramp and stay in quick stop active
6
Slow down on quick stop ramp and stay in quick stop active
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605A
h
Quick stop option code
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
See value definition above
2