User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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210 Object Description (6065
h
) . . . . . . . 72
211 Entry Description (6065
h
) . . . . . . . 72
212 Object Description (6067
h
) . . . . . . . 73
213 Entry Description (6067
h
) . . . . . . . 73
214 Object Description (6068
h
) . . . . . . . 73
215 Entry Description (6068
h
) . . . . . . . 73
216 Object Description (606C
h
) . . . . . . 73
217 Entry Description (606C
h
) . . . . . . . 74
218 Object Description (607A
h
in pp Mode) 74
219 Entry Description (607A
h
in pp Mode) 74
220 Object Description (607D
h
) . . . . . . 74
221 Entry Description (607D
h
) . . . . . . . 75
222 Object Description (6081
h
) . . . . . . . 75
223 Entry Description (6081
h
) . . . . . . . 75
224 Object Description (6082
h
) . . . . . . . 75
225 Entry Description (6082
h
) . . . . . . . 75
226 Object Description (6083
h
) . . . . . . . 76
227 Entry Description (6083
h
) . . . . . . . 76
228 Object Description (6084
h
) . . . . . . . 76
229 Entry Description (6084
h
) . . . . . . . 76
230 Object Description (6085
h
) . . . . . . . 77
231 Entry Description (6085
h
) . . . . . . . 77
232 Value Definitions of Object 6086
h
. . 77
233 Object Description (6086
h
) . . . . . . . 77
234 Entry Description (6086
h
) . . . . . . . 77
235 Object Description (60A4
h
) . . . . . . 78
236 Entry Description (60A4
h
) . . . . . . . 78
237 Bit Definitions of Object 60F2
h
. . . . 78
238 Object Description (60F2
h
) . . . . . . . 78
239 Entry Description (60F2
h
) . . . . . . . 79
240 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 80
241 Command Coding . . . . . . . . . . . . 81
242 Object Description (6040
h
in pv Mode) 81
243 Entry Description (6040
h
in pv Mode) 81
244 Structure of the Status Word in pv Mode 81
245 Trinamic Specific Bits . . . . . . . . . . 82
246 Operation Mode specific Bits in pv Mode 82
247 State Coding . . . . . . . . . . . . . . . 82
248 Object Description (6041
h
in pv Mode) 82
249 Entry Description (6041
h
in pv Mode) 83
250 Object Description (6062
h
) . . . . . . . 83
251 Entry Description (6062
h
) . . . . . . . 83
252 Object Description (6063
h
) . . . . . . . 83
253 Entry Description (6063
h
) . . . . . . . 83
254 Object Description (6064
h
) . . . . . . . 84
255 Entry Description (6064
h
) . . . . . . . 84
256 Object Description (6065
h
) . . . . . . . 84
257 Entry Description (6065
h
) . . . . . . . 84
258 Object Description (606C
h
) . . . . . . 85
259 Entry Description (606C
h
) . . . . . . . 85
260 Object Description (607D
h
) . . . . . . 85
261 Entry Description (607D
h
) . . . . . . . 85
262 Object Description (6083
h
) . . . . . . . 86
263 Entry Description (6083
h
) . . . . . . . 86
264 Object Description (6084
h
) . . . . . . . 86
265 Entry Description (6084
h
) . . . . . . . 86
266 Object Description (6085
h
) . . . . . . . 87
267 Entry Description (6085
h
) . . . . . . . 87
268 Value Definitions of Object 6086
h
. . 87
269 Object Description (6086
h
) . . . . . . . 87
270 Entry Description (6086
h
) . . . . . . . 87
271 Object Description (60A4
h
) . . . . . . 88
272 Entry Description (60A4
h
) . . . . . . . 88
273 Object Description (60FF
h
) . . . . . . . 88
274 Entry Description (60FF
h
) . . . . . . . 88
275 Supported CANopen Homing Methods 91
276 Homing Methods 17 – 21 . . . . . . . 93
277 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 95
278 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 95
279 Command Coding . . . . . . . . . . . . 95
280 Object Description (6040
h
in hm Mode) 96
281 Entry Description (6040
h
in hm Mode) 96
282 Structure of the Status Word in hm Mode 96
283 Trinamic Specific Bits . . . . . . . . . . 96
284 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 97
285 State Coding . . . . . . . . . . . . . . . 97
286 Object Description (6041
h
in hm Mode) 97
287 Entry Description (6041
h
in hm Mode) 97
288 Object Description (606C
h
) . . . . . . 98
289 Entry Description (606C
h
) . . . . . . . 98
290 Object Description (607C
h
) . . . . . . 98
291 Entry Description (607C
h
) . . . . . . . 98
292 Object Description (6098
h
) . . . . . . . 99
293 Entry Description (6098
h
) . . . . . . . 99
294 Object Description (6099
h
) . . . . . . . 99
295 Entry Description (6099
h
) . . . . . . . 99
296 Object Description (609A
h
) . . . . . . 100
297 Entry Description (609A
h
) . . . . . . . 100
298 Object Description (2100
h
) . . . . . . . 100
299 Entry Description (2100
h
) . . . . . . . 100
300 Emergency Messages (EMCY) . . . . . 103
301 Firmware Revision . . . . . . . . . . . 110
302 Document Revision . . . . . . . . . . . 110
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