User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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6 Profile Position Mode
A target position is applied to the trajectory generator. It is generating a position demand value for the
position control loop described in the position control function.
Please refer to object 6060
h
(section 5.1.6) for information about how to choose an operation mode.
Object 6061
h
(section 5.1.7) shows the operation mode that is set.
6.1 Detailed Object Specifications
The following text offers detailed object specifications. For a better understanding, it is necessary to see
how the state machine works.
Power disabled
Fault
Power enabled
Controlword 6040h
Statusword 6041h
0
1
2
3
4
5
6
7
8
9
10 12
16
11
13
13
13
automatically
15
14
automatically
automatically
Start
Not ready to switch on
Switch on disable
Ready to switch on
Switched on
Operation enable
Quick stop active
Fault reaction active
Fault
Figure 8: DS402 Finite State Machine
Notes on state transitions:
• Commands directing a change in state are processed completely and the new state achieved before
additional state change commands are processed.
• Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs automatically,
too. All other state changes must be directed by the host.
• Drive function disabled indicates that no current is being supplied to the motor.
• Drive function enabled indicates that current is available for the motor and profile position and
profile velocity reference values may be processed.
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