User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 47
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4.3.3 Detailed Object Definitions
4.3.3.1 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 9
see 4.2.1.1
8
Halt Reserved (0)
7
6
5
Homing operation start
4 0
MSB
LSB
see 4.2.1.1 see 4.2.1.1
3
OPERATION MODE SPECIFIC BITS IN HM MODE
Bit
Name
Definition
4
Homing operation start
Set to 1 to start homing; setting to 0 stops homing
8
Halt
Not supported
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