User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
110 / 114
212 Object Description (6062
h
) . . . . . . . 70
213 Entry Description (6062
h
) . . . . . . . 70
214 Object Description (6063
h
) . . . . . . . 70
215 Entry Description (6063
h
) . . . . . . . 70
216 Object Description (6064
h
) . . . . . . . 70
217 Entry Description (6064
h
) . . . . . . . 71
218 Object Description (6065
h
) . . . . . . . 71
219 Entry Description (6065
h
) . . . . . . . 71
220 Object Description (6067
h
) . . . . . . . 72
221 Entry Description (6067
h
) . . . . . . . 72
222 Object Description (6068
h
) . . . . . . . 72
223 Entry Description (6068
h
) . . . . . . . 72
224 Object Description (606C
h
) . . . . . . 72
225 Entry Description (606C
h
) . . . . . . . 73
226 Object Description (607A
h
in pp Mode) 73
227 Entry Description (607A
h
in pp Mode) 73
228 Object Description (607D
h
) . . . . . . 73
229 Entry Description (607D
h
) . . . . . . . 74
230 Object Description (6081
h
) . . . . . . . 74
231 Entry Description (6081
h
) . . . . . . . 74
232 Object Description (6082
h
) . . . . . . . 74
233 Entry Description (6082
h
) . . . . . . . 74
234 Object Description (6083
h
) . . . . . . . 75
235 Entry Description (6083
h
) . . . . . . . 75
236 Object Description (6084
h
) . . . . . . . 75
237 Entry Description (6084
h
) . . . . . . . 75
238 Object Description (6085
h
) . . . . . . . 76
239 Entry Description (6085
h
) . . . . . . . 76
240 Bit Definitions of Object 60F2
h
. . . . 76
241 Object Description (60F2
h
) . . . . . . . 76
242 Entry Description (60F2
h
) . . . . . . . 76
243
Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 78
244 Command Coding . . . . . . . . . . . . 79
245 Object Description (6040
h
in pv Mode) 79
246 Entry Description (6040
h
in pv Mode) 79
247 Structure of the Status Word in pv Mode 79
248 Trinamic Specific Bits . . . . . . . . . . 80
249 Operation Mode specific Bits in pv Mode 80
250 State Coding . . . . . . . . . . . . . . . 80
251 Object Description (6041
h
in pv Mode) 80
252 Entry Description (6041
h
in pv Mode) 81
253 Object Description (6062
h
) . . . . . . . 81
254 Entry Description (6062
h
) . . . . . . . 81
255 Object Description (6063
h
) . . . . . . . 81
256 Entry Description (6063
h
) . . . . . . . 81
257 Object Description (6064
h
) . . . . . . . 82
258 Entry Description (6064
h
) . . . . . . . 82
259 Object Description (6065
h
) . . . . . . . 82
260 Entry Description (6065
h
) . . . . . . . 82
261 Object Description (606C
h
) . . . . . . 83
262 Entry Description (606C
h
) . . . . . . . 83
263 Object Description (607D
h
) . . . . . . 83
264 Entry Description (607D
h
) . . . . . . . 83
265 Object Description (6083
h
) . . . . . . . 84
266 Entry Description (6083
h
) . . . . . . . 84
267 Object Description (6085
h
) . . . . . . . 84
268 Entry Description (6085
h
) . . . . . . . 84
269 Object Description (60FF
h
) . . . . . . . 84
270 Entry Description (60FF
h
) . . . . . . . 85
271 Supported CANopen Homing Methods 87
272 Homing Methods 17 – 21 . . . . . . . 89
273 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 91
274 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 91
275 Command Coding . . . . . . . . . . . . 91
276 Object Description (6040
h
in hm Mode) 92
277 Entry Description (6040
h
in hm Mode) 92
278 Structure of the Status Word in hm Mode 92
279 Trinamic Specific Bits . . . . . . . . . . 92
280 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 93
281 State Coding . . . . . . . . . . . . . . . 93
282 Object Description (6041
h
in hm Mode) 93
283 Entry Description (6041
h
in hm Mode) 93
284 Object Description (606C
h
) . . . . . . 94
285 Entry Description (606C
h
) . . . . . . . 94
286 Object Description (607C
h
) . . . . . . 94
287 Entry Description (607C
h
) . . . . . . . 94
288 Object Description (6098
h
) . . . . . . . 95
289 Entry Description (6098
h
) . . . . . . . 95
290 Object Description (6099
h
) . . . . . . . 95
291 Entry Description (6099
h
) . . . . . . . 95
292 Object Description (609A
h
) . . . . . . 96
293 Entry Description (609A
h
) . . . . . . . 96
294 Object Description (2100
h
) . . . . . . . 96
295 Entry Description (2100
h
) . . . . . . . 96
296 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 98
297 Command Coding . . . . . . . . . . . . 99
298 Object Description (6040
h
in csp Mode) 99
299 Entry Description (6040
h
in csp Mode) 99
300 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 99
301 Trinamic Specific Bits . . . . . . . . . . 100
302 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 100
303 State Coding . . . . . . . . . . . . . . . 100
304 Object Description (6041
h
in csp Mode) 100
305 Entry Description (6041
h
in csp Mode) 101
306 Object Description (6062
h
) . . . . . . . 101
307 Entry Description (6062
h
) . . . . . . . 101
308 Object Description (6063
h
) . . . . . . . 101
309 Entry Description (6063
h
) . . . . . . . 101
310 Object Description (6064
h
) . . . . . . . 102
311 Entry Description (6064
h
) . . . . . . . 102
312 Object Description (606C
h
) . . . . . . 102
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