User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 53
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4.4.1.2 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 14
see 4.2.1.2
13 12
11
10 9 0
MSB
LSB
reserved (0) See 4.2.1.2see 4.2.1.2 reserved (0)
There are no mode specific bits supported in vl mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6041
h
Controlword
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
4.4.1.3 Object 6042
h
: vl Target Velocity
This object indicates the required velocity of the system. It is the target velocity when the velocity mode
is active. Use this object to control the velocity of the motor in velocity mode. When this object is changed
the motor will be accelerated or decelerated to the new velocity. The range depends on the chosen units,
which can be internal or user-specific. Please refer to object 208C
h
(paragraph 0) for more information
about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6042
h
vl target velocity
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
SIGNED32
Depends on the units.