User Manual

TMCM-3230 CANopen
®
Firmware Manual • Firmware Version V3.21 | Document Revision V1.05 • 2018-JAN-10
114 / 118
210 Trinamic Specific Bits . . . . . . . . . . 72
211 Operation Mode specific Bits in pp Mode 73
212 State Coding . . . . . . . . . . . . . . . 73
213 Object Description (6041
h
in pp Mode) 73
214 Entry Description (6041
h
in pp Mode) 73
215 Object Description (6062
h
) . . . . . . . 74
216 Entry Description (6062
h
) . . . . . . . 74
217 Object Description (6063
h
) . . . . . . . 74
218 Entry Description (6063
h
) . . . . . . . 74
219 Object Description (6064
h
) . . . . . . . 74
220 Entry Description (6064
h
) . . . . . . . 75
221 Object Description (6065
h
) . . . . . . . 75
222 Entry Description (6065
h
) . . . . . . . 75
223 Object Description (6067
h
) . . . . . . . 76
224 Entry Description (6067
h
) . . . . . . . 76
225 Object Description (6068
h
) . . . . . . . 76
226 Entry Description (6068
h
) . . . . . . . 76
227 Object Description (606C
h
) . . . . . . 76
228 Entry Description (606C
h
) . . . . . . . 77
229 Object Description (607A
h
in pp Mode) 77
230 Entry Description (607A
h
in pp Mode) 77
231 Object Description (607D
h
) . . . . . . 77
232 Entry Description (607D
h
) . . . . . . . 78
233 Object Description (6081
h
) . . . . . . . 78
234 Entry Description (6081
h
) . . . . . . . 78
235 Object Description (6082
h
) . . . . . . . 78
236 Entry Description (6082
h
) . . . . . . . 78
237 Object Description (6083
h
) . . . . . . . 79
238 Entry Description (6083
h
) . . . . . . . 79
239 Object Description (6084
h
) . . . . . . . 79
240 Entry Description (6084
h
) . . . . . . . 79
241 Object Description (6085
h
) . . . . . . . 80
242 Entry Description (6085
h
) . . . . . . . 80
243 Bit Definitions of Object 60F2
h
. . . . 80
244 Object Description (60F2
h
) . . . . . . . 80
245 Entry Description (60F2
h
) . . . . . . . 80
246
Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 82
247 Command Coding . . . . . . . . . . . . 83
248 Object Description (6040
h
in pv Mode) 83
249 Entry Description (6040
h
in pv Mode) 83
250 Structure of the Status Word in pv Mode 83
251 Trinamic Specific Bits . . . . . . . . . . 84
252 Operation Mode specific Bits in pv Mode 84
253 State Coding . . . . . . . . . . . . . . . 84
254 Object Description (6041
h
in pv Mode) 84
255 Entry Description (6041
h
in pv Mode) 85
256 Object Description (6062
h
) . . . . . . . 85
257 Entry Description (6062
h
) . . . . . . . 85
258 Object Description (6063
h
) . . . . . . . 85
259 Entry Description (6063
h
) . . . . . . . 85
260 Object Description (6064
h
) . . . . . . . 86
261 Entry Description (6064
h
) . . . . . . . 86
262 Object Description (6065
h
) . . . . . . . 86
263 Entry Description (6065
h
) . . . . . . . 86
264 Object Description (606C
h
) . . . . . . 87
265 Entry Description (606C
h
) . . . . . . . 87
266 Object Description (607D
h
) . . . . . . 87
267 Entry Description (607D
h
) . . . . . . . 87
268 Object Description (6083
h
) . . . . . . . 88
269 Entry Description (6083
h
) . . . . . . . 88
270 Object Description (6085
h
) . . . . . . . 88
271 Entry Description (6085
h
) . . . . . . . 88
272 Object Description (60FF
h
) . . . . . . . 88
273 Entry Description (60FF
h
) . . . . . . . 89
274 Supported CANopen Homing Methods 91
275 Homing Methods 17 – 21 . . . . . . . 93
276 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 95
277 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 95
278 Command Coding . . . . . . . . . . . . 95
279 Object Description (6040
h
in hm Mode) 96
280 Entry Description (6040
h
in hm Mode) 96
281 Structure of the Status Word in hm Mode 96
282 Trinamic Specific Bits . . . . . . . . . . 96
283 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 97
284 State Coding . . . . . . . . . . . . . . . 97
285 Object Description (6041
h
in hm Mode) 97
286 Entry Description (6041
h
in hm Mode) 97
287 Object Description (606C
h
) . . . . . . 98
288 Entry Description (606C
h
) . . . . . . . 98
289 Object Description (607C
h
) . . . . . . 98
290 Entry Description (607C
h
) . . . . . . . 98
291 Object Description (6098
h
) . . . . . . . 99
292 Entry Description (6098
h
) . . . . . . . 99
293 Object Description (6099
h
) . . . . . . . 99
294 Entry Description (6099
h
) . . . . . . . 99
295 Object Description (609A
h
) . . . . . . 100
296 Entry Description (609A
h
) . . . . . . . 100
297 Object Description (2100
h
) . . . . . . . 100
298 Entry Description (2100
h
) . . . . . . . 100
299 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 102
300 Command Coding . . . . . . . . . . . . 103
301 Object Description (6040
h
in csp Mode) 103
302 Entry Description (6040
h
in csp Mode) 103
303
Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 103
304 Trinamic Specific Bits . . . . . . . . . . 104
305 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 104
306 State Coding . . . . . . . . . . . . . . . 104
307 Object Description (6041
h
in csp Mode) 104
308 Entry Description (6041
h
in csp Mode) 105
309 Object Description (6062
h
) . . . . . . . 105
310 Entry Description (6062
h
) . . . . . . . 105
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