User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
115 / 119
211 Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 72
212 Operation Mode specific Bits in pp Mode 72
213 Command Coding . . . . . . . . . . . . 72
214 Object Description (6040
h
in pp Mode) 73
215 Entry Description (6040
h
in pp Mode) 73
216 Structure of the Staus Word in pp Mode 73
217 Trinamic Specific Bits . . . . . . . . . . 73
218 Operation Mode specific Bits in pp Mode 74
219 State Coding . . . . . . . . . . . . . . . 74
220 Object Description (6041
h
in pp Mode) 74
221 Entry Description (6041
h
in pp Mode) 74
222 Object Description (6062
h
) . . . . . . . 75
223 Entry Description (6062
h
) . . . . . . . 75
224 Object Description (6063
h
) . . . . . . . 75
225 Entry Description (6063
h
) . . . . . . . 75
226 Object Description (6064
h
) . . . . . . . 75
227 Entry Description (6064
h
) . . . . . . . 76
228 Object Description (6065
h
) . . . . . . . 76
229 Entry Description (6065
h
) . . . . . . . 76
230 Object Description (6067
h
) . . . . . . . 77
231 Entry Description (6067
h
) . . . . . . . 77
232 Object Description (6068
h
) . . . . . . . 77
233 Entry Description (6068
h
) . . . . . . . 77
234 Object Description (606C
h
) . . . . . . 77
235 Entry Description (606C
h
) . . . . . . . 78
236 Object Description (607A
h
in pp Mode) 78
237 Entry Description (607A
h
in pp Mode) 78
238 Object Description (607D
h
) . . . . . . 78
239 Entry Description (607D
h
) . . . . . . . 79
240 Object Description (6081
h
) . . . . . . . 79
241 Entry Description (6081
h
) . . . . . . . 79
242 Object Description (6082
h
) . . . . . . . 79
243 Entry Description (6082
h
) . . . . . . . 79
244 Object Description (6083
h
) . . . . . . . 80
245 Entry Description (6083
h
) . . . . . . . 80
246 Object Description (6084
h
) . . . . . . . 80
247 Entry Description (6084
h
) . . . . . . . 80
248 Object Description (6085
h
) . . . . . . . 81
249 Entry Description (6085
h
) . . . . . . . 81
250 Bit Definitions of Object 60F2
h
. . . . 81
251 Object Description (60F2
h
) . . . . . . . 81
252 Entry Description (60F2
h
) . . . . . . . 81
253 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 83
254 Command Coding . . . . . . . . . . . . 84
255 Object Description (6040
h
in pv Mode) 84
256 Entry Description (6040
h
in pv Mode) 84
257
Structure of the Status Word in pv Mode 84
258 Trinamic Specific Bits . . . . . . . . . . 85
259 Operation Mode specific Bits in pv Mode 85
260 State Coding . . . . . . . . . . . . . . . 85
261 Object Description (6041
h
in pv Mode) 85
262 Entry Description (6041
h
in pv Mode) 86
263 Object Description (6062
h
) . . . . . . . 86
264 Entry Description (6062
h
) . . . . . . . 86
265 Object Description (6063
h
) . . . . . . . 86
266 Entry Description (6063
h
) . . . . . . . 86
267 Object Description (6064
h
) . . . . . . . 87
268 Entry Description (6064
h
) . . . . . . . 87
269 Object Description (6065
h
) . . . . . . . 87
270 Entry Description (6065
h
) . . . . . . . 87
271 Object Description (606C
h
) . . . . . . 88
272 Entry Description (606C
h
) . . . . . . . 88
273 Object Description (607D
h
) . . . . . . 88
274 Entry Description (607D
h
) . . . . . . . 88
275 Object Description (6083
h
) . . . . . . . 89
276 Entry Description (6083
h
) . . . . . . . 89
277 Object Description (6085
h
) . . . . . . . 89
278 Entry Description (6085
h
) . . . . . . . 89
279 Object Description (60FF
h
) . . . . . . . 90
280 Entry Description (60FF
h
) . . . . . . . 90
281 Supported CANopen Homing Methods 92
282 Homing Methods 17 – 21 . . . . . . . 94
283 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 96
284 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 96
285 Command Coding . . . . . . . . . . . . 96
286 Object Description (6040
h
in hm Mode) 97
287 Entry Description (6040
h
in hm Mode) 97
288 Structure of the Status Word in hm Mode 97
289 Trinamic Specific Bits . . . . . . . . . . 97
290 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 98
291 State Coding . . . . . . . . . . . . . . . 98
292 Object Description (6041
h
in hm Mode) 98
293 Entry Description (6041
h
in hm Mode) 98
294 Object Description (606C
h
) . . . . . . 99
295 Entry Description (606C
h
) . . . . . . . 99
296 Object Description (607C
h
) . . . . . . 99
297 Entry Description (607C
h
) . . . . . . . 99
298 Object Description (6098
h
) . . . . . . . 100
299 Entry Description (6098
h
) . . . . . . . 100
300 Object Description (6099
h
) . . . . . . . 100
301 Entry Description (6099
h
) . . . . . . . 100
302 Object Description (609A
h
) . . . . . . 101
303 Entry Description (609A
h
) . . . . . . . 101
304 Object Description (2100
h
) . . . . . . . 101
305 Entry Description (2100
h
) . . . . . . . 101
306 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 103
307 Command Coding . . . . . . . . . . . . 104
308 Object Description (6040
h
in csp Mode) 104
309 Entry Description (6040
h
in csp Mode) 104
310 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 104
311 Trinamic Specific Bits . . . . . . . . . . 105
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