User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
127 / 131
211 Object Description (60FD
h
) . . . . . . 75
212 Entry Description (60FD
h
) . . . . . . . 75
213 Value Definition (6502
h
) . . . . . . . . 75
214 Object Description (6502
h
) . . . . . . . 75
215 Entry Description (6502
h
) . . . . . . . 76
216 Structure of the Control Word in pp
Mode . . . . . . . . . . . . . . . . . . . 78
217 Operation Mode specific Bits in pp Mode 78
218 Command Coding . . . . . . . . . . . . 78
219 Object Description (6040
h
in pp Mode) 79
220 Entry Description (6040
h
in pp Mode) 79
221 Structure of the Staus Word in pp Mode 79
222 Trinamic Specific Bits . . . . . . . . . . 79
223 Operation Mode specific Bits in pp Mode 80
224 State Coding . . . . . . . . . . . . . . . 80
225 Object Description (6041
h
in pp Mode) 80
226 Entry Description (6041
h
in pp Mode) 80
227 Object Description (6062
h
) . . . . . . . 81
228 Entry Description (6062
h
) . . . . . . . 81
229 Object Description (6063
h
) . . . . . . . 81
230 Entry Description (6063
h
) . . . . . . . 81
231 Object Description (6064
h
) . . . . . . . 81
232 Entry Description (6064
h
) . . . . . . . 82
233 Object Description (6065
h
) . . . . . . . 82
234 Entry Description (6065
h
) . . . . . . . 82
235 Object Description (6067
h
) . . . . . . . 83
236 Entry Description (6067
h
) . . . . . . . 83
237 Object Description (6068
h
) . . . . . . . 83
238 Entry Description (6068
h
) . . . . . . . 83
239 Object Description (606C
h
) . . . . . . 83
240 Entry Description (606C
h
) . . . . . . . 84
241 Object Description (607A
h
in pp Mode) 84
242 Entry Description (607A
h
in pp Mode) 84
243 Object Description (607D
h
) . . . . . . 84
244 Entry Description (607D
h
) . . . . . . . 85
245 Object Description (6081
h
) . . . . . . . 85
246 Entry Description (6081
h
) . . . . . . . 85
247 Object Description (6082
h
) . . . . . . . 85
248 Entry Description (6082
h
) . . . . . . . 85
249 Object Description (6083
h
) . . . . . . . 86
250 Entry Description (6083
h
) . . . . . . . 86
251 Object Description (6084
h
) . . . . . . . 86
252 Entry Description (6084
h
) . . . . . . . 86
253 Object Description (6085
h
) . . . . . . . 87
254 Entry Description (6085
h
) . . . . . . . 87
255 Bit Definitions of Object 60F2
h
. . . . 87
256 Object Description (60F2
h
) . . . . . . . 87
257 Entry Description (60F2
h
) . . . . . . . 87
258 Structure of the Control Word in pv
Mode . . . . . . . . . . . . . . . . . . . 89
259 Command Coding . . . . . . . . . . . . 90
260 Object Description (6040
h
in pv Mode) 90
261 Entry Description (6040
h
in pv Mode) 90
262 Structure of the Status Word in pv Mode 90
263 Trinamic Specific Bits . . . . . . . . . . 91
264 Operation Mode specific Bits in pv Mode 91
265 State Coding . . . . . . . . . . . . . . . 91
266 Object Description (6041
h
in pv Mode) 91
267 Entry Description (6041
h
in pv Mode) 92
268 Object Description (6062
h
) . . . . . . . 92
269 Entry Description (6062
h
) . . . . . . . 92
270 Object Description (6063
h
) . . . . . . . 92
271 Entry Description (6063
h
) . . . . . . . 92
272 Object Description (6064
h
) . . . . . . . 93
273 Entry Description (6064
h
) . . . . . . . 93
274 Object Description (6065
h
) . . . . . . . 93
275 Entry Description (6065
h
) . . . . . . . 93
276 Object Description (606C
h
) . . . . . . 94
277 Entry Description (606C
h
) . . . . . . . 94
278 Object Description (607D
h
) . . . . . . 94
279 Entry Description (607D
h
) . . . . . . . 94
280 Object Description (6083
h
) . . . . . . . 95
281 Entry Description (6083
h
) . . . . . . . 95
282 Object Description (6085
h
) . . . . . . . 95
283 Entry Description (6085
h
) . . . . . . . 95
284 Object Description (60FF
h
) . . . . . . . 96
285 Entry Description (60FF
h
) . . . . . . . 96
286 Supported CANopen Homing Methods 98
287 Structure of the Control Word in hm
Mode . . . . . . . . . . . . . . . . . . . 103
288 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 103
289 Command Coding . . . . . . . . . . . . 103
290 Object Description (6040
h
in hm Mode) 104
291 Entry Description (6040
h
in hm Mode) 104
292 Structure of the Status Word in hm Mode 104
293 Trinamic Specific Bits . . . . . . . . . . 104
294 Operation Mode specific Bits in hm
Mode . . . . . . . . . . . . . . . . . . . 105
295 State Coding . . . . . . . . . . . . . . . 105
296 Object Description (6041
h
in hm Mode) 105
297 Entry Description (6041
h
in hm Mode) 105
298 Object Description (606C
h
) . . . . . . 106
299 Entry Description (606C
h
) . . . . . . . 106
300 Object Description (607C
h
) . . . . . . 106
301 Entry Description (607C
h
) . . . . . . . 106
302 Object Description (6098
h
) . . . . . . . 107
303 Entry Description (6098
h
) . . . . . . . 107
304 Object Description (6099
h
) . . . . . . . 107
305 Entry Description (6099
h
) . . . . . . . 107
306 Object Description (609A
h
) . . . . . . 108
307 Entry Description (609A
h
) . . . . . . . 108
308 Structure of the Control Word in csp
Mode . . . . . . . . . . . . . . . . . . . 109
309 Command Coding . . . . . . . . . . . . 110
310 Object Description (6040
h
in csp Mode) 110
311 Entry Description (6040
h
in csp Mode) 110
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