User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2.51 Object 2700
h
: TMCL Direct Communication
After writing the make signature 656b616d
h
to this object the drive switches to TMCL mode. The drive can
then only be controlled via TMCL commands written to the OS command object 1023/01
h
.
The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
Object Description
Index Name Object Type Data Type
2700
h
TMCL Direct Communication Variable UNSIGNED32
Table 153: Object Description (2700
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 656b616d
h
0
Table 154: Entry Description (2700)
h
4.2.52 Object 2701
h
: Manufacturer Specific Mode
Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer
specific mode can be turned off again by writing the kill signature to this object. The manufacturer specific
mode has the following features:
• PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed.
• The RTR bit in the COB-ID of PDO definitions is ignored.
read: 0 = manufacturer specific mode is inactive
1 = manufacturer specific mode is active
write: 656b616d
h
= make signature
6c6c696b
h
= kill signature
Object Description
Index Name Object Type Data Type
2701
h
Manufacturer Specific Mode Variable UNSIGNED32
Table 155: Object Description (2701
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no see above 0
Table 156: Entry Description (2701)
h
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