User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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317 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 110
318 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 110
319 Command Coding . . . . . . . . . . . . 110
320 Object Description (6040
h
in hm Mode) 111
321 Entry Description (6040
h
in hm Mode) 111
322 Structure of the Status Word in hm Mode 111
323 Trinamic Specific Bits . . . . . . . . . . 111
324 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 112
325 State Coding . . . . . . . . . . . . . . . 112
326 Object Description (6041
h
in hm Mode) 112
327 Entry Description (6041
h
in hm Mode) 112
328 Object Description (606C
h
) . . . . . . 113
329 Entry Description (606C
h
) . . . . . . . 113
330 Object Description (607C
h
) . . . . . . 113
331 Entry Description (607C
h
) . . . . . . . 113
332 Object Description (6098
h
) . . . . . . . 114
333 Entry Description (6098
h
) . . . . . . . 114
334 Object Description (6099
h
) . . . . . . . 114
335 Entry Description (6099
h
) . . . . . . . 114
336 Object Description (609A
h
) . . . . . . 115
337 Entry Description (609A
h
) . . . . . . . 115
338 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 116
339 Command Coding . . . . . . . . . . . . 117
340 Object Description (6040
h
in csp Mode) 117
341 Entry Description (6040
h
in csp Mode) 117
342 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 117
343 Trinamic Specific Bits . . . . . . . . . . 118
344 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 118
345 State Coding . . . . . . . . . . . . . . . 118
346 Object Description (6041
h
in csp Mode) 118
347 Entry Description (6041
h
in csp Mode) 119
348 Object Description (6062
h
) . . . . . . . 119
349 Entry Description (6062
h
) . . . . . . . 119
350 Object Description (6063
h
) . . . . . . . 119
351 Entry Description (6063
h
) . . . . . . . 119
352 Object Description (6064
h
) . . . . . . . 120
353 Entry Description (6064
h
) . . . . . . . 120
354 Object Description (606C
h
) . . . . . . 120
355 Entry Description (606C
h
) . . . . . . . 120
356 Object Description (607A
h
in csp Mode) 120
357 Entry Description (607A
h
in csp Mode) 121
358 Object Description (607D
h
) . . . . . . 121
359 Entry Description (607D
h
) . . . . . . . 121
360 Object Description (60B0
h
) . . . . . . 121
361 Entry Description (60B0
h
) . . . . . . . 122
362 Object Description (60C2
h
) . . . . . . 122
363 Entry Description (60C2
h
) . . . . . . . 122
364 Structure of the Control Word in csv
Mode . . . . . . . . . . . . . . . . . . . 123
365 Command Coding . . . . . . . . . . . . 124
366 Object Description (6040
h
in csv Mode) 124
367 Entry Description (6040
h
in csv Mode) 124
368 Structure of the Status Word in csv Mode 124
369 Trinamic Specific Bits . . . . . . . . . . 125
370 Operation Mode specific Bits in csv
Mode . . . . . . . . . . . . . . . . . . . 125
371 State Coding . . . . . . . . . . . . . . . 125
372 Object Description (6041
h
in csv Mode) 125
373 Entry Description (6041
h
in csv Mode) 126
374 Object Description (606C
h
) . . . . . . 126
375 Entry Description (606C
h
) . . . . . . . 126
376 Object Description (60FF
h
) . . . . . . . 126
377 Entry Description (60FF
h
) . . . . . . . 126
378 Object Description (607D
h
) . . . . . . 127
379 Entry Description (607D
h
) . . . . . . . 127
380 Object Description (60B1
h
) . . . . . . 127
381 Entry Description (60B1
h
) . . . . . . . 127
382 Object Description (60C2
h
) . . . . . . 128
383 Entry Description (60C2
h
) . . . . . . . 128
384 Structure of the Control Word in cst
Mode . . . . . . . . . . . . . . . . . . . 129
385 Command Coding . . . . . . . . . . . . 129
386 Object Description (6040
h
in cst Mode) 130
387 Entry Description (6040
h
in cst Mode) 130
388 Structure of the Status Word in cst Mode 130
389 Trinamic Specific Bits . . . . . . . . . . 130
390 Operation Mode specific Bits in cst Mode 131
391 State Coding . . . . . . . . . . . . . . . 131
392 Object Description (6041
h
in cst Mode) 131
393 Entry Description (6041
h
in cst Mode) 131
394 Object Description (6062
h
) . . . . . . . 132
395 Entry Description (6062
h
) . . . . . . . 132
396 Object Description (6063
h
) . . . . . . . 132
397 Entry Description (6063
h
) . . . . . . . 132
398 Object Description (6064
h
) . . . . . . . 132
399 Entry Description (6064
h
) . . . . . . . 133
400 Object Description (6071
h
) . . . . . . . 133
401 Entry Description (6071
h
) . . . . . . . 133
402 Object Description (6077
h
) . . . . . . . 133
403 Entry Description (6077
h
) . . . . . . . 133
404 Object Description (607D
h
) . . . . . . 134
405 Entry Description (607D
h
) . . . . . . . 134
406 Object Description (60B2
h
) . . . . . . 134
407 Entry Description (60B2
h
) . . . . . . . 134
408 Object Description (60C2
h
) . . . . . . 135
409 Entry Description (60C2
h
) . . . . . . . 135
410 Emergency Messages (EMCY) . . . . . 137
411 Firmware Revision . . . . . . . . . . . 145
412 Document Revision . . . . . . . . . . . 145
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