User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 26
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4.1.5 Object 605E
h
: Fault Reaction Option Code
This object indicates what action is performed when fault is detected in the power drive system. The slow
down ramp is the deceleration value of the used mode of operation. The fault reaction option code always
has the value 2 as only this is supported.
VALUE DEFINITION
Value
Definition
2
Slow down on quick stop ramp
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
605E
h
(motor 0)
Fault reaction 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
2
4.1.6 Object 6060
h
: Modes of Operation
This object indicates the requested operation mode. Supported operating modes are:
VALUE DEFINITION
Value
Definition
0
No mode*
1
Profile position mode
2
Velocity mode
3
Profile velocity mode
6
Homing mode
* The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported
operating modes and the operating mode is then switched to 0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6060
h
Modes of operation
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
See value definition above
0
4.1.7 Object 6061
h
: Modes of Operation Display
This object shows the operating mode that is set.
VALUE DEFINITION
Value
Definition
0
No mode*
1
Profile position mode
2
Velocity mode
3
Profile velocity mode
6
Homing mode
* The motor will not run when the operating mode is set to 0. It will be stopped when the motor is running in one of the supported
operating modes and the operating mode is then switched to 0.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6061
h
Modes of operation display
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
See value definition above
0