User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
114 / 118
212 Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 71
213 Operation Mode specific Bits in pp Mode 71
214 Command Coding . . . . . . . . . . . . 71
215 Object Description (6040
h
in pp Mode) 72
216 Entry Description (6040
h
in pp Mode) 72
217 Structure of the Staus Word in pp Mode 72
218 Trinamic Specific Bits . . . . . . . . . . 72
219 Operation Mode specific Bits in pp Mode 73
220 State Coding . . . . . . . . . . . . . . . 73
221 Object Description (6041
h
in pp Mode) 73
222 Entry Description (6041
h
in pp Mode) 73
223 Object Description (6062
h
) . . . . . . . 74
224 Entry Description (6062
h
) . . . . . . . 74
225 Object Description (6063
h
) . . . . . . . 74
226 Entry Description (6063
h
) . . . . . . . 74
227 Object Description (6064
h
) . . . . . . . 74
228 Entry Description (6064
h
) . . . . . . . 75
229 Object Description (6065
h
) . . . . . . . 75
230 Entry Description (6065
h
) . . . . . . . 75
231 Object Description (6067
h
) . . . . . . . 76
232 Entry Description (6067
h
) . . . . . . . 76
233 Object Description (6068
h
) . . . . . . . 76
234 Entry Description (6068
h
) . . . . . . . 76
235 Object Description (606C
h
) . . . . . . 76
236 Entry Description (606C
h
) . . . . . . . 77
237 Object Description (607A
h
in pp Mode) 77
238 Entry Description (607A
h
in pp Mode) 77
239 Object Description (607D
h
) . . . . . . 77
240 Entry Description (607D
h
) . . . . . . . 78
241 Object Description (6081
h
) . . . . . . . 78
242 Entry Description (6081
h
) . . . . . . . 78
243 Object Description (6082
h
) . . . . . . . 78
244 Entry Description (6082
h
) . . . . . . . 78
245 Object Description (6083
h
) . . . . . . . 79
246 Entry Description (6083
h
) . . . . . . . 79
247 Object Description (6084
h
) . . . . . . . 79
248 Entry Description (6084
h
) . . . . . . . 79
249 Object Description (6085
h
) . . . . . . . 80
250 Entry Description (6085
h
) . . . . . . . 80
251 Bit Definitions of Object 60F2
h
. . . . 80
252 Object Description (60F2
h
) . . . . . . . 80
253 Entry Description (60F2
h
) . . . . . . . 80
254 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 82
255 Command Coding . . . . . . . . . . . . 83
256 Object Description (6040
h
in pv Mode) 83
257 Entry Description (6040
h
in pv Mode) 83
258
Structure of the Status Word in pv Mode 83
259 Trinamic Specific Bits . . . . . . . . . . 84
260 Operation Mode specific Bits in pv Mode 84
261 State Coding . . . . . . . . . . . . . . . 84
262 Object Description (6041
h
in pv Mode) 84
263 Entry Description (6041
h
in pv Mode) 85
264 Object Description (6062
h
) . . . . . . . 85
265 Entry Description (6062
h
) . . . . . . . 85
266 Object Description (6063
h
) . . . . . . . 85
267 Entry Description (6063
h
) . . . . . . . 85
268 Object Description (6064
h
) . . . . . . . 86
269 Entry Description (6064
h
) . . . . . . . 86
270 Object Description (6065
h
) . . . . . . . 86
271 Entry Description (6065
h
) . . . . . . . 86
272 Object Description (606C
h
) . . . . . . 87
273 Entry Description (606C
h
) . . . . . . . 87
274 Object Description (607D
h
) . . . . . . 87
275 Entry Description (607D
h
) . . . . . . . 87
276 Object Description (6083
h
) . . . . . . . 88
277 Entry Description (6083
h
) . . . . . . . 88
278 Object Description (6085
h
) . . . . . . . 88
279 Entry Description (6085
h
) . . . . . . . 88
280 Object Description (60FF
h
) . . . . . . . 89
281 Entry Description (60FF
h
) . . . . . . . 89
282 Supported CANopen Homing Methods 91
283 Homing Methods 17 – 21 . . . . . . . 93
284 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 95
285 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 95
286 Command Coding . . . . . . . . . . . . 95
287 Object Description (6040
h
in hm Mode) 96
288 Entry Description (6040
h
in hm Mode) 96
289 Structure of the Status Word in hm Mode 96
290 Trinamic Specific Bits . . . . . . . . . . 96
291 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 97
292 State Coding . . . . . . . . . . . . . . . 97
293 Object Description (6041
h
in hm Mode) 97
294 Entry Description (6041
h
in hm Mode) 97
295 Object Description (606C
h
) . . . . . . 98
296 Entry Description (606C
h
) . . . . . . . 98
297 Object Description (607C
h
) . . . . . . 98
298 Entry Description (607C
h
) . . . . . . . 98
299 Object Description (6098
h
) . . . . . . . 99
300 Entry Description (6098
h
) . . . . . . . 99
301 Object Description (6099
h
) . . . . . . . 99
302 Entry Description (6099
h
) . . . . . . . 99
303 Object Description (609A
h
) . . . . . . 100
304 Entry Description (609A
h
) . . . . . . . 100
305 Object Description (2100
h
) . . . . . . . 100
306 Entry Description (2100
h
) . . . . . . . 100
307 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 102
308 Command Coding . . . . . . . . . . . . 103
309 Object Description (6040
h
in csp Mode) 103
310 Entry Description (6040
h
in csp Mode) 103
311 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 103
312 Trinamic Specific Bits . . . . . . . . . . 104
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