User Manual

TMCM-6212 CANopen

Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13

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10 Cyclic synchonous Velocity Mode

The cyclic synchronous velocity mode is used to directly control the velocity of the motor. It contains limit

functions, but not a trajectory generator. The trajectory generator is located in the control device (the

master), not in the drive device. In cyclic synchronous manner, the control device provides a target velocity

to the drive device, which performs position control, velocity control and torque control.

The main control parameters are the target velocity (object 60FF

, see section 10.1.4) and the interpolation

time period (object 60C2

, see section 10.1.7). The drive automatically sets the acceleration in such a

manner that the next target velocity is reached within the interpolation time period. Acceleration and

deceleration ramps are not used in this mode.

The cyclic synchronous velocity mode covers the following sub-functions:

• Velocity demand value input directly via an object.

• Monitoring of the position.

• Limiting the position using the software limits or the hardware limit switches.

10.1 Detailed Object Speciﬁcations

10.1.1 Object 6040

: 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 9 for

detailed information. The cyclic synchronous velocity mode does not use any mode speciﬁc bits of the

control word.

Structure of the Control Word

15 9 8 7 6 4 3 2 1 0

nu h fr nu eo qs ev so

MSB LSB

Legend: nu=not used; h=halt; fr=fault reset; eo=enable operation; qs=quick stop; ev=enable voltage;

so=switch on.

Table 334: Structure of the Control Word in csv Mode

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