User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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5 Profile specific area
The profile segment contains CiA-402 standard motion control objects. These objects control the motion
control functions of the TMCM-3313. Since it is not possible to operate the modes in parallel, the user is
able to activate the required function by selecting a mode of operation. The control device writes to the
modes of operation object in order to select the operation mode. The drive device provides the modes
of operation display object to indicate the actual activated operation mode. Controlword, statusword,
and set-points are used mode-specific. This implies the responsibility of the control device to avoid
inconsistencies and erroneous behavior.
The following operating modes (selectable via object 6060
h
, please see 5.1.6) are implemented on the
TMCM-3313:
• Profile position mode (pp)
• Profile velocity mode (pv)
• Homing mode (hm)
• Cyclic position mode (csp)
Info
This section of the manual only shows the object indices for motor #0. Of course
the same objects are also available for the other motors. For the other motors,
add an offset of motor_number· 800
h
to the object index. So for example the
control word (object 6040
h
for motor #0) can be accessed as object 6840
h
for
motor #1 and as object 7040
h
for motor #2. Please see also section 2.4.1.
Multi-axis Object Indices
Motor Object Index Range
Motor #0 6000
h
– 67FF
h
Motor #1 6800
h
– 6FFF
h
Motor #2 7000
h
– 77FF
h
Table 161: Multi-axis Object Indices (Profile specific Area)
5.1 Detailed object specifications
5.1.1 Object 605A
h
: Quick stop option code
This object indicates what action is performed when the quick stop function is executed. The slow down
ramp is the deceleration value of the used mode of operation. The following quick stop option codes are
supported in the current version of the CANopen firmware:
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