User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Object Description
Index Name Object Type Data Type
6040
h
Controlword Variable UNSIGNED16
Table 196: Object Description (6040
h
in pp Mode)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See command coding above.
Table 197: Entry Description (6040
h
in pp Mode)
6.1.2 Object 6041
h
: Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure 12 for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
dir mot oms ila tr rm ms w sod qs ve f oe so rtso
MSB LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; eo=enable opera-
tion; qs=quick stop; ev=enable voltage; so=switch on.
Table 198: Structure of the Staus Word in pp Mode
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 199: Trinamic Specific Bits
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