User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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211 Entry Description (605C
h
) . . . . . . . 74
212 Value Description (605D
h
) . . . . . . . 74
213 Object Description (605D
h
) . . . . . . 75
214 Entry Description (605D
h
) . . . . . . . 75
215 Value Description (605E
h
) . . . . . . . 75
216 Object Description (605E
h
) . . . . . . . 75
217 Entry Description (605E
h
) . . . . . . . 75
218 Value Description (6060
h
) . . . . . . . 76
219 Object Description (6060
h
) . . . . . . . 76
220 Entry Description (6060
h
) . . . . . . . 76
221 Value Description (6061
h
) . . . . . . . 77
222 Object Description (6061
h
) . . . . . . . 77
223 Entry Description (6061
h
) . . . . . . . 77
224 Value Description (606A
h
) . . . . . . . 77
225 Object Description (606A
h
) . . . . . . 78
226 Entry Description (606A
h
) . . . . . . . 78
227 Object Description (608F
h
) . . . . . . . 78
228 Entry Description (608F
h
) . . . . . . . 78
229 Object Description (60FD
h
) . . . . . . 79
230 Entry Description (60FD
h
) . . . . . . . 79
231 Value Definition (6502
h
) . . . . . . . . 79
232 Object Description (6502
h
) . . . . . . . 79
233 Entry Description (6502
h
) . . . . . . . 80
234
Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 82
235 Operation Mode specific Bits in pp Mode 82
236 Command Coding . . . . . . . . . . . . 82
237 Object Description (6040
h
in pp Mode) 83
238 Entry Description (6040
h
in pp Mode) 83
239 Structure of the Staus Word in pp Mode 83
240 Trinamic Specific Bits . . . . . . . . . . 83
241 Operation Mode specific Bits in pp Mode 84
242 State Coding . . . . . . . . . . . . . . . 84
243 Object Description (6041
h
in pp Mode) 84
244 Entry Description (6041
h
in pp Mode) 84
245 Object Description (6062
h
) . . . . . . . 85
246 Entry Description (6062
h
) . . . . . . . 85
247 Object Description (6063
h
) . . . . . . . 85
248 Entry Description (6063
h
) . . . . . . . 85
249 Object Description (6064
h
) . . . . . . . 85
250 Entry Description (6064
h
) . . . . . . . 86
251 Object Description (6065
h
) . . . . . . . 86
252 Entry Description (6065
h
) . . . . . . . 86
253 Object Description (6067
h
) . . . . . . . 87
254 Entry Description (6067
h
) . . . . . . . 87
255 Object Description (6068
h
) . . . . . . . 87
256 Entry Description (6068
h
) . . . . . . . 87
257 Object Description (606C
h
) . . . . . . 87
258 Entry Description (606C
h
) . . . . . . . 88
259 Object Description (607A
h
in pp Mode) 88
260 Entry Description (607A
h
in pp Mode) 88
261 Object Description (607D
h
) . . . . . . 88
262 Entry Description (607D
h
) . . . . . . . 89
263 Object Description (6081
h
) . . . . . . . 89
264 Entry Description (6081
h
) . . . . . . . 89
265 Object Description (6082
h
) . . . . . . . 89
266 Entry Description (6082
h
) . . . . . . . 89
267 Object Description (6083
h
) . . . . . . . 90
268 Entry Description (6083
h
) . . . . . . . 90
269 Object Description (6084
h
) . . . . . . . 90
270 Entry Description (6084
h
) . . . . . . . 90
271 Object Description (6085
h
) . . . . . . . 91
272 Entry Description (6085
h
) . . . . . . . 91
273 Value Definitions of Object 6086
h
. . 91
274 Object Description (6086
h
) . . . . . . . 91
275 Entry Description (6086
h
) . . . . . . . 91
276 Object Description (60A4
h
) . . . . . . 92
277 Entry Description (60A4
h
) . . . . . . . 92
278 Bit Definitions of Object 60F2
h
. . . . 92
279 Object Description (60F2
h
) . . . . . . . 93
280 Entry Description (60F2
h
) . . . . . . . 93
281 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 94
282 Command Coding . . . . . . . . . . . . 95
283 Object Description (6040
h
in pv Mode) 95
284 Entry Description (6040
h
in pv Mode) 95
285 Structure of the Status Word in pv Mode 95
286 Trinamic Specific Bits . . . . . . . . . . 96
287 Operation Mode specific Bits in pv Mode 96
288 State Coding . . . . . . . . . . . . . . . 96
289 Object Description (6041
h
in pv Mode) 96
290 Entry Description (6041
h
in pv Mode) 97
291 Object Description (6062
h
) . . . . . . . 97
292 Entry Description (6062
h
) . . . . . . . 97
293 Object Description (6063
h
) . . . . . . . 97
294 Entry Description (6063
h
) . . . . . . . 97
295 Object Description (6064
h
) . . . . . . . 98
296 Entry Description (6064
h
) . . . . . . . 98
297 Object Description (6065
h
) . . . . . . . 98
298 Entry Description (6065
h
) . . . . . . . 98
299 Object Description (606C
h
) . . . . . . 99
300 Entry Description (606C
h
) . . . . . . . 99
301 Object Description (607D
h
) . . . . . . 99
302 Entry Description (607D
h
) . . . . . . . 99
303 Object Description (6083
h
) . . . . . . . 100
304 Entry Description (6083
h
) . . . . . . . 100
305 Object Description (6084
h
) . . . . . . . 100
306 Entry Description (6084
h
) . . . . . . . 100
307 Object Description (6085
h
) . . . . . . . 101
308 Entry Description (6085
h
) . . . . . . . 101
309 Value Definitions of Object 6086
h
. . 101
310 Object Description (6086
h
) . . . . . . . 101
311 Entry Description (6086
h
) . . . . . . . 101
312 Object Description (60A4
h
) . . . . . . 102
313 Entry Description (60A4
h
) . . . . . . . 102
314 Object Description (60FF
h
) . . . . . . . 102
315 Entry Description (60FF
h
) . . . . . . . 102
316 Supported CANopen Homing Methods 105
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