User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
93 / 114
Operation Mode specific Bits in hm Mode
Bit Name Definition
10 Target reached Set when the zero position has been found or homing has
been stopped by setting controlword bit 4 to zero.
12 Home attained Set when zero position has been found.
13 Homing error Not supported.
Table 280: Operation Mode specific Bits in hm Mode
State Coding
Status word FSA state
xxxx xxxx x0xx 0000
h
Not ready to switch on
xxxx xxxx x1xx 0000
h
Switch on disabled
xxxx xxxx x01x 0001
h
Ready to switch on
xxxx xxxx x01x 0011
h
Switched on
xxxx xxxx x01x 0111
h
Operation enabled
xxxx xxxx x00x 0111
h
Quick stop active
xxxx xxxx x0xx 1111
h
Fault reaction active
xxxx xxxx x0xx 1000
h
Fault
Table 281: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 282: Object Description (6041
h
in hm Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above.
Table 283: Entry Description (6041
h
in hm Mode)
8.2.3 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208C
h
, described in section 4.2.16).
©2018 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com