User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
128 / 131
312 Structure of the Status Word in csp
Mode . . . . . . . . . . . . . . . . . . . 110
313 Trinamic Specific Bits . . . . . . . . . . 111
314 Operation Mode specific Bits in csp
Mode . . . . . . . . . . . . . . . . . . . 111
315 State Coding . . . . . . . . . . . . . . . 111
316 Object Description (6041
h
in csp Mode) 111
317 Entry Description (6041
h
in csp Mode) 112
318 Object Description (6062
h
) . . . . . . . 112
319 Entry Description (6062
h
) . . . . . . . 112
320 Object Description (6063
h
) . . . . . . . 112
321 Entry Description (6063
h
) . . . . . . . 112
322 Object Description (6064
h
) . . . . . . . 113
323 Entry Description (6064
h
) . . . . . . . 113
324 Object Description (606C
h
) . . . . . . 113
325 Entry Description (606C
h
) . . . . . . . 113
326 Object Description (607A
h
in csp Mode) 113
327 Entry Description (607A
h
in csp Mode) 114
328 Object Description (607D
h
) . . . . . . 114
329 Entry Description (607D
h
) . . . . . . . 114
330 Object Description (60B0
h
) . . . . . . 114
331 Entry Description (60B0
h
) . . . . . . . 115
332 Object Description (60C2
h
) . . . . . . 115
333 Entry Description (60C2
h
) . . . . . . . 115
334 Structure of the Control Word in csv
Mode . . . . . . . . . . . . . . . . . . . 116
335 Command Coding . . . . . . . . . . . . 117
336 Object Description (6040
h
in csv Mode) 117
337 Entry Description (6040
h
in csv Mode) 117
338 Structure of the Status Word in csv Mode 117
339 Trinamic Specific Bits . . . . . . . . . . 118
340 Operation Mode specific Bits in csv
Mode . . . . . . . . . . . . . . . . . . . 118
341 State Coding . . . . . . . . . . . . . . . 118
342 Object Description (6041
h
in csv Mode) 118
343 Entry Description (6041
h
in csv Mode) 119
344 Object Description (606C
h
) . . . . . . 119
345 Entry Description (606C
h
) . . . . . . . 119
346 Object Description (60FF
h
) . . . . . . . 119
347 Entry Description (60FF
h
) . . . . . . . 119
348 Object Description (607D
h
) . . . . . . 120
349 Entry Description (607D
h
) . . . . . . . 120
350 Object Description (60B1
h
) . . . . . . 120
351 Entry Description (60B1
h
) . . . . . . . 120
352 Object Description (60C2
h
) . . . . . . 121
353 Entry Description (60C2
h
) . . . . . . . 121
354 Emergency Messages (EMCY) . . . . . 123
355 Firmware Revision . . . . . . . . . . . 131
356 Document Revision . . . . . . . . . . . 131
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