User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 25
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4.1.2 Object 605B
h
: Shutdown Option Code
This object indicates what action is performed if there is a transition from operation enabled state to ready
to switch on state. The shutdown option code always has the value 0 as only this is supported.
VALUE DEFINITION
Value
Definition
0
Disable drive function (switch-off the drive power stage)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605B
h
Shutdown option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0
Refer to CiA402-3
See value definition above
0
4.1.3 Object 605C
h
: Disable Operation Option Code
This object indicates what action is performed if there is a transition from operation enabled state to
switched on state. The disable operation option code always has the value 1 as only this is supported. The
slow down ramp is the deceleration value of the used mode of operation.
VALUE DEFINITION
Value
Definition
1
Slow down with slow down ramp; disable of the drive function
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605C
h
Disable operation option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0
Refer to CiA402-3
See value definition above
1
4.1.4 Object 605D
h
: Halt Option Code
This object indicates what action is performed when the halt function is executed. The slow down ramp is
the deceleration value of the used mode of operation. The halt option code always has the value 1 as only
this is supported.
VALUE DEFINITION
Value
Definition
1
Slow down on slow down ramp and stay in operation enabled
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605D
h
Halt option code
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0
Refer to CiA402-3
See value definition above
1