User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 30
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4.2 Profile Position Mode
A target position is applied to the trajectory generator. It is generating a position-demand-value for the
position control loop described in the position control function.
Please refer to object 6060
h
(section 4.1.6) for information about how to choose an operation mode.
Object 6061
h
(section 4.1.7) shows the operation mode that is set.
4.2.1 Detailed Object Specifications
The following text offers detailed object specifications. For a better understanding, it is necessary to see
how the state machine works.
Power disabled Fault
Power enabled
Start
Not ready to switch on
Switch on disabled
Ready to switch on
Switched on
Operation enable
Quick stop active
Fault reaction active
Fault
Controlw ord 6040
h
Statusw ord 6041
h
0
1
2
3
4
5
6
7
8
9
10 12
16
11
13
13
13
automatically
15
14
automatically
automatically
Figure 4.1 Finite state machine
NOTES ON STATE TRANSITIONS
- Commands directing a change in state are processed completely and the new state achieved before
additional state change commands are processed.
- Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs
automatically, too. All other state changes must be directed by the host.
- Drive function disabled indicates that no current is being supplied to the motor.
- Drive function enabled indicates that current is available for the motor and profile position and
profile velocity reference values may be processed.