User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
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210 Object Description (6082
h
) . . . . . . . 70
211 Entry Description (6082
h
) . . . . . . . 70
212 Object Description (6083
h
) . . . . . . . 71
213 Entry Description (6083
h
) . . . . . . . 71
214 Object Description (6084
h
) . . . . . . . 71
215 Entry Description (6084
h
) . . . . . . . 71
216 Object Description (6085
h
) . . . . . . . 72
217 Entry Description (6085
h
) . . . . . . . 72
218 Bit Definitions of Object 60F2
h
. . . . 72
219 Object Description (60F2
h
) . . . . . . . 72
220 Entry Description (60F2
h
) . . . . . . . . 72
221 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 74
222 Command Coding . . . . . . . . . . . . 75
223 Object Description (6040
h
in pv Mode) 75
224 Entry Description (6040
h
in pv Mode) 75
225 Structure of the Status Word in pv Mode 75
226 Trinamic Specific Bits . . . . . . . . . . 76
227 Operation Mode specific Bits in pv Mode 76
228 State Coding . . . . . . . . . . . . . . . 76
229 Object Description (6041
h
in pv Mode) 76
230 Entry Description (6041
h
in pv Mode) 77
231 Object Description (6062
h
) . . . . . . . 77
232 Entry Description (6062
h
) . . . . . . . 77
233 Object Description (6063
h
) . . . . . . . 77
234 Entry Description (6063
h
) . . . . . . . 77
235 Object Description (6064
h
) . . . . . . . 78
236 Entry Description (6064
h
) . . . . . . . 78
237 Object Description (6065
h
) . . . . . . . 78
238 Entry Description (6065
h
) . . . . . . . 78
239 Object Description (606C
h
) . . . . . . . 79
240 Entry Description (606C
h
) . . . . . . . 79
241 Object Description (607D
h
) . . . . . . 79
242 Entry Description (607D
h
) . . . . . . . 79
243 Object Description (6083
h
) . . . . . . . 80
244 Entry Description (6083
h
) . . . . . . . 80
245 Object Description (6085
h
) . . . . . . . 80
246 Entry Description (6085
h
) . . . . . . . 80
247 Object Description (60FF
h
) . . . . . . . 81
248 Entry Description (60FF
h
) . . . . . . . . 81
249 Supported CANopen Homing Methods 83
250 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 88
251 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 88
252 Command Coding . . . . . . . . . . . . 88
253 Object Description (6040
h
in hm Mode) 89
254 Entry Description (6040
h
in hm Mode) 89
255 Structure of the Status Word in hm
Mode . . . . . . . . . . . . . . . . . . . 89
256 Trinamic Specific Bits . . . . . . . . . . 89
257 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 90
258 State Coding . . . . . . . . . . . . . . . 90
259 Object Description (6041
h
in hm Mode) 90
260 Entry Description (6041
h
in hm Mode) 90
261 Object Description (606C
h
) . . . . . . . 91
262 Entry Description (606C
h
) . . . . . . . 91
263 Object Description (607C
h
) . . . . . . . 91
264 Entry Description (607C
h
) . . . . . . . 91
265 Object Description (6098
h
) . . . . . . . 92
266 Entry Description (6098
h
) . . . . . . . 92
267 Object Description (6099
h
) . . . . . . . 92
268 Entry Description (6099
h
) . . . . . . . 92
269 Object Description (609A
h
) . . . . . . . 93
270 Entry Description (609A
h
) . . . . . . . 93
271 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 94
272 Command Coding . . . . . . . . . . . . 95
273 Object Description (6040
h
in csp Mode) 95
274 Entry Description (6040
h
in csp Mode) 95
275 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 95
276 Trinamic Specific Bits . . . . . . . . . . 96
277 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 96
278 State Coding . . . . . . . . . . . . . . . 96
279 Object Description (6041
h
in csp Mode) 96
280 Entry Description (6041
h
in csp Mode) 97
281 Object Description (6062
h
) . . . . . . . 97
282 Entry Description (6062
h
) . . . . . . . 97
283 Object Description (6063
h
) . . . . . . . 97
284 Entry Description (6063
h
) . . . . . . . 97
285 Object Description (6064
h
) . . . . . . . 98
286 Entry Description (6064
h
) . . . . . . . 98
287 Object Description (606C
h
) . . . . . . . 98
288 Entry Description (606C
h
) . . . . . . . 98
289 Object Description (607A
h
in csp Mode) 98
290 Entry Description (607A
h
in csp Mode) 99
291 Object Description (607D
h
) . . . . . . 99
292 Entry Description (607D
h
) . . . . . . . 99
293 Object Description (60B0
h
) . . . . . . . 99
294 Entry Description (60B0
h
) . . . . . . . 100
295 Object Description (60C2
h
) . . . . . . . 100
296 Entry Description (60C2
h
) . . . . . . . 100
297 Structure of the Control Word in csv
Mode . . . . . . . . . . . . . . . . . . . 101
298 Command Coding . . . . . . . . . . . . 102
299 Object Description (6040
h
in csv Mode) 102
300 Entry Description (6040
h
in csv Mode) 102
301 Structure of the Status Word in csv
Mode . . . . . . . . . . . . . . . . . . . 102
302 Trinamic Specific Bits . . . . . . . . . . 103
303 Operation Mode specific Bits in csv
Mode . . . . . . . . . . . . . . . . . . . 103
304 State Coding . . . . . . . . . . . . . . . 103
305 Object Description (6041
h
in csv Mode) 103
306 Entry Description (6041
h
in csv Mode) 104
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