User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 52
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4.4 Velocity Mode
The velocity mode is used to control the velocity of the drive without a special regard of the position. It
contains limit functions.
THE OPERATION OF THE REFERENCE VALUE GENERATOR AND THE INPUT PARAMETERS INCLUDE:
- Velocity
- Acceleration
- Deceleration
- Emergency stop
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.
4.4.1 Detailed Object Definitions
4.4.1.1 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 9
see 4.2.1.1
8
Halt reference ramp
7
6
5
unlock ramp
4 0
MSB
LSB
see 4.2.1.1 see 4.2.1.1
3
enable ramp
There are no mode specific bits supported in vl mode.
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
Operation mode specific