TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Object Description
Index
Name
Object Type
Data Type
6040
h
Controlword
Variable
UNSIGNED16
Table 186: Object Description (6040
h
in pp Mode)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See command coding above.
Table 187: Entry Description (6040
h
in pp Mode)
6.1.2
Object 6041
h
: Status Word
This object provides the status of the PDS FSA. It reflects the status of the CiA-402 state machine. Please
refer to figure
for detailed information. The object is structured as defined below.
For more information about the coding please refer to the CANopen Drives and motion control device
profile, part 2.
Structure of the Status Word
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
dir
mot
oms
ila
tr
rm
ms
w
sod
qs
ve
f
oe
so
rtso
MSB
LSB
Legend: nu=not used; r=reserved; oms=operation mode specific; h=halt; fr=fault reset; oe=operation
enable; qs=quick stop; ve=voltage enable; so=switch on.
Table 188: Structure of the Staus Word in pp Mode
Trinamic Specific Bits
Bit
Name
Definition
14
Motor activity
0: Motor stands still.
1: Motor rotates.
15
Direction of rotation
This bit shows the direction of rotation.
Table 189: Trinamic Specific Bits
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