User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 32
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4.2.1.2 Object 6041
h
: Statusword
This object provides the status of the PDS FSA. It reflects the status of the CiA402 state machine. Please
refer to Figure 4.1 Finite state machine for detailed information. The object is structured as defined below.
For more information about the coding refer to the CANopen Drives and motion control device profile, part
2 please.
STRUCTURE OF STATUSWORD / VALUE DEFINITION
15 11 10
tr rm ms w
9 8 7 6 4 3 2 1 0
f oe so rtso
MSB LSB
LEGEND: dir = direction; mot = motor activity; oms = operation mode specific; ila = internal limit
active; tr = target reached; rm = remote; ms = manufacturer specific; w = warning; sod = switch
on disabled; qs = quick stop; ve = voltage enabled; f = fault; oe = operation enabled; so =
switched on; rtso = ready to switch on
5
sod qs veilaomsdir
12
mot
1314
TRINAMIC SPECIFIC BITS
Bit
Name
Definition
14
Motor activity
0 = motor stop; 1 = motor rotates
15
Direction of rotation
This bit determines/shows the direction of rotation
OPERATION MODE SPECIFIC BITS IN PP MODE
Bit
Name
Definition
10
Target reached
Set when the motor is within the target position window
12
Set point acknowledge
0 = set point processed; 1 = set point still in process
13
Following error
Not supported
STATE CODING
Statusword
PDS FSA state
xxxx xxxx x0xx 0000
b
Not ready to switch on
xxxx xxxx x1xx 0000
b
Switch on disabled
xxxx xxxx x01x 0001
b
Ready to switch on
xxxx xxxx x01x 0011
b
Switched on
xxxx xxxx x01x 0111
b
Operation enabled
xxxx xxxx x00x 0111
b
Quick stop active
xxxx xxxx x0xx 1111
b
Fault reaction active
xxxx xxxx x0xx 1000
b
Fault
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041
h
Statusword
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
See state coding
above
no