User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 48
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4.3.3.2 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 14
see 4.2.1.2
13
Homing error Homing attained
12 11 10
Target reached
9 0
MSB
LSB
see 4.2.1.2 see 4.2.1.2
OPERATION MODE SPECIFIC BITS IN HM MODE
Bit
Name
Definition
10
Target reached
Set when the zero position has been found or homing
has been stopped by setting controlword bit 4 to zero
12
Homing attained
Set when the zero position has been found
13
Homing error
Not supported
DEFINITION OF BIT 10, BIT 12, AND BIT 13
Bit 13
Bit 12
Bit 10
Definition
0
0
0
Homing procedure is in progress
0
0
1
Homing procedure is interrupted or not reached
0
1
0
Homing is attained, but target is not reached
0
1
1
Homing procedure is completed successfully
1
0
0
Homing error occurred, velocity is not 0
1
0
1
Homing error occurred, velocity is 0
1
1
x
reserved
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
r0
Refer to CiA402-3
See state coding above
No
4.3.3.3 Object 606C
h
: Velocity Actual Value
This object gives the actual velocity value derived either from the velocity sensor or from the position
sensor.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606C
h
Velocity actual value
Variable
INTEGER32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
INTEGER32
no