User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
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Trinamic Specific Bits
Bit Name Definition
14 Motor activity 0: Motor stands still.
1: Motor rotates.
15 Direction of rotation This bit shows the direction of rotation.
Table 311: Trinamic Specific Bits
Operation Mode specific Bits in csp Mode
Bit Name Definition
10 Reserved Not used.
12 Target position ignored 0: Target position ignored.
1: Target position used as input to position controller.
13 Following error 0: No following error.
1: Following error.
Table 312: Operation Mode specific Bits in csp 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 313: State Coding
Object Description
Index Name Object Type Data Type
6041
h
Controlword Variable UNSIGNED16
Table 314: Object Description (6041
h
in csp Mode)
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