User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 56
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4.5 Profile Velocity Mode
The profile velocity mode is used to control the velocity of the drive without a special regard of the
position. It contains limit functions and trajectory generation.
THE PROFILE VELOCITY MODE COVERS THE FOLLOWING SUB-FUNCTIONS:
- Demand value input via trajectory generator
- Monitoring of the profile velocity using a window-function
- Monitoring of velocity actual value using a threshold
THE OPERATION OF THE REFERENCE VALUE GENERATOR AND ITS INPUT PARAMETERS INCLUDE:
- Profile velocity
- Profile acceleration
- Profile deceleration
- Emergency stop
- Motion profile type
- Detailed object definitions
4.5.1.1 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 for
detailed information.
STRUCTURE OF CONTROLWORD / VALUE DEFINITION
15 9
see 4.2.1.1
8
Halt Reserved
7
6
4 0
MSB
LSB
see 4.2.1.1 see 4.2.1.1
3
There are no mode specific bits supported in this 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
Device and operation mode specific