TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 43<br />
7.2 Profile position mode<br />
A target position is applied to the trajectory generator. It is generating a position-demand-value for<br />
the position control loop described in the position control function.<br />
7.2.1 Detailed object specifications<br />
The following text offers detailed object specifications. According to this it is necessary to show how<br />
the state machine works in detail:<br />
9 8<br />
Notes on state transitions:<br />
Power disabled Fault<br />
Start<br />
Not ready to switch on<br />
Switch on disabled<br />
2<br />
Ready to switch on<br />
3<br />
4<br />
Switched on<br />
Operation enable<br />
11<br />
Quick stop active<br />
Power enabled<br />
Controlword 6040h<br />
automatically<br />
Statusword 6041h<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />
0<br />
automatically<br />
1<br />
7<br />
6<br />
5<br />
16<br />
10 12<br />
Fault reaction active<br />
Fault<br />
Figure 7.1: Finite state machine<br />
automatically<br />
Commands directing a change in state are processed completely and the new state achieved<br />
before additional state change commands are processed.<br />
Transitions 0 and 1 occur automatically at drive power-on or reset. Transition 14 occurs<br />
automatically, too. All other state changes must be directed by the host.<br />
Drive function disabled indicates that no current is being supplied to the motor.<br />
Drive function enabled indicates that current is available for the motor and profile position<br />
and profile velocity reference values may be processed.<br />
14<br />
15<br />
13<br />
13<br />
13