User Manual
CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 57
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4.5.1.2 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
Max slippage error see 4.2.1.2Speed Target reached see 4.2.1.2
OPERATION MODE SPECIFIC BITS IN PV MODE
Bit
Name
Definition
10
Target reached
Indicates that the desired speed is reached
12
Speed
Not supported
13
Max slippage error
Not supported
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
ro
Refer to CiA402-3
See state coding
above
No
4.5.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062
h
indicates
the actual position that the motor should have. It is not to be confused with objects 6063
h
and 6064
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6062
h
Position demand value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
No
4.5.1.4 Object 6063
h
: Position Actual Internal Value
This object indicates the actual position of the encoder, re-scaled to the microstep resolution of the motor.
If necessary, the data unit may be transformed from user-defined units to increments. The value is given
in microsteps or encoder steps, depending on object 606A
h
(described in paragraph 4.1.8).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6063
h
Position actual internal
value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
No