User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Command Coding
Command Bits of Control Word Transitions
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0
Shutdown 0 x 1 1 0 2,6,8
Switch on 0 0 1 1 1 3
Switch on & enable operation 0 1 1 1 1 3, 4
Disable voltage 0 x x 0 x 7,9,10,12
Quick stop 0 x 0 1 x 7,10,11
Disable operation 0 0 1 1 1 5
Enable operation 0 1 1 1 1 4, 16
Fault reset 0-to-1 x x x x 15
Table 297: Command Coding
Object Description
Index Name Object Type Data Type
6040
h
Controlword Variable UNSIGNED16
Table 298: Object Description (6040
h
in csp Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See command coding above.
Table 299: Entry Description (6040
h
in csp Mode)
9.1.2 Object 6041
h
: Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 8 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
dir mot oms ila r rm ms w sod qs ve f oe so rtso
MSB LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 300: Structure of the Status Word in csp Mode
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