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) 62<br />
7.4 Velocity mode<br />
The velocity mode is used to control the velocity of the drive without a special regard of the position.<br />
It contains limit functions.<br />
The operation of the reference value generator and its input parameters include:<br />
Velocity<br />
Acceleration<br />
Deceleration<br />
Emergency stop<br />
7.4.1 Detailed object definitions<br />
7.4.1.1 Object 6040 h, 6840 h, and 7040 h: Controlword<br />
This object indicates the received command controlling the power drive system finite state<br />
automation (PDS FSA). The CiA-402 state machine can be controlled using this object. Please refer to<br />
Figure 7.1: Finite state machine for detailed information.<br />
STRUCTURE OF CONTROLWORD / VALUE DEFINITION<br />
15 9<br />
MSB<br />
see 8.2.1.1<br />
8<br />
7 6 5<br />
Halt see 8.2.1.1 reference ramp unlock ramp enable ramp see 8.2.1.1<br />
There are no mode specific bits supported in vl mode.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6040 h (motor 0)<br />
6840 h (motor 1)<br />
7040 h (motor 2)<br />
Controlword Variable UNSIGNED16<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG<br />
4 3 0<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00h rw Refer to CiA402-3<br />
See command<br />
coding above<br />
Device and operation mode specific<br />
LSB
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