User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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7 Profile Velocity Mode
The profile velocity mode is used to control the velocity of the drive without a special regard of the position.
It contains limit functions and trajectory generation.
The profile velocity mode covers the following sub-functions:
• Demand value input via trajectory generator.
• Monitoring of the profile velocity using a window-function.
• Monitoring of velocity actual value using a threshold.
The operation of the reference value generator and its input parameters include:
• Profile velocity
• Profile acceleration
• Profile deceleration
• Emergency stop
• Motion profile type
7.1 Detailed Object Specifications
7.1.1 Object 6040
h
: Control Word
This object indicates the received command controlling the power drive system finite state automaton
(PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to figure 13 for
detailed information.
In pv mode the control word does not contain any operation mode specific bits.
Structure of the Control Word
15 11 10 9 8 7 6 4 3 2 1 0
nu r r h fr r eo qs ev so
MSB LSB
Legend: nu=not used; r=reserved; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable
voltage; so=switch on.
Table 281: Structure of the Control Word in pv Mode
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