User Manual
TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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5 Profile specific Area
The profile segment contains CiA-402 standard motion control objects. These objects control the motion
control functions of the TMCM-1276. Since it is not possible to operate the modes in parallel, the user is
able to activate the required function by selecting a mode of operation. The control device writes to the
modes of operation object in order to select the operation mode. The drive device provides the modes
of operation display object to indicate the actual activated operation mode. Controlword, statusword,
and set-points are used mode-specific. This implies the responsibility of the control device to avoid
inconsistencies and erroneous behavior.
The following operating modes (selectable via object 6060
h
, please see 5.1.6) are implemented on the
TMCM-1276:
• Profile position mode (pp)
• Profile velocity mode (pv)
• Homing mode (hm)
• Cyclic position mode (csp)
5.1 Detailed Object Specifications
5.1.1 Object 605A
h
: Quick Stop Option Code
This object indicates what action is performed when the quick stop function is executed. The slow down
ramp is the deceleration value of the used mode of operation. The following quick stop option codes are
supported in the current version of the CANopen firmware:
Value Definition
Value Definition
1 Slow down on slow down ramp and transit into switch on disabled
2 Slow down on quick stop ramp and transit into switch on disabled
5 Slow down on slow down ramp and stay in quick stop active)
6 Slow down on quick stop ramp and stay in quick stop active
Table 175: Value Description (605A
h
)
Object Description
Index Name Object Type Data Type
605A
h
Quick stop option code Variable SIGNED16
Table 176: Object Description (605A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 1/2/5/6 2
Table 177: Entry Description (605A
h
)
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