User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 31
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4.2.1.1 Object 6040
h
: Controlword
This object indicates the received command controlling the power drive system finite state automation
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to Figure 4.1 Finite
state machine for detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 11
nu
10
r oms h fr
9
8
7
6
4
oms
3 2 1 0
eo qs ev so
MSB
LSB
LEGEND: nu = not used; r = reserved; oms = operation mode specific; h = halt;
fr = fault reset; eo = enable operation; qs = quick stop; ev = enable voltage; so = sw itch on
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
Name
Definition
4
New set point
0-to-1: The next positioning will be started after the last
one has completed.
5
Change immediately
Not supported
6
Absolute/relative
0 = new position is absolute; 1 = new position is relative
9
Change set point
Not supported
COMMAND CODING
Command
Bits of controlword
Transitions
Bit 7
Bit 3
Bit 2
Bit 1
Bit 0
Shutdown
0
x
1
1
0
2, 6, 8
Switch on
0
0
1
1
1
3
Switch on + enable
operation
0
1
1
1
1
3 + 4 (NOTE)
Disable voltage
0
x
x
0
x
7, 9, 10, 12
Quick stop
0
x
0
1
x
7, 10, 11
Disable operation
0
0
1
1
1
5
Enable operation
0
1
1
1
1
4, 16
Fault reset
x
x
x
x
15
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6040
h
Controlword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
See command
coding above
Device and operation mode specific