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Page 8 of 153 TR-EMO-BA-GB-0022 v03 09/29/2020
List of tables
Table 1: References .............................................................................................................................. 12
Table 2: Abbreviations used / Terminology ........................................................................................... 14
Table 3: States, State Machine ............................................................................................................. 21
Table 4: States of the status word ......................................................................................................... 32
Table 5: Operating states, status word .................................................................................................. 32
Table 6: State transitions ....................................................................................................................... 34
Table 7: Change operating state ........................................................................................................... 34
Table 8: Control word (object 0x6040), “Profile Position” operating mode ........................................... 35
Table 9: Status word (object 0x6041), “Profile Position” operating mode ............................................. 36
Table 10: Positioning parameter ........................................................................................................... 39
Table 11: Control word (object 0x6040), “Profile velocity” operating mode .......................................... 40
Table 12: Status word (object 0x6041), “Profile velocity” operating mode ............................................ 41
Table 13: Speed ramp parameter ......................................................................................................... 43
Table 14: Control word (object 0x6040), “Homing” operating mode ..................................................... 44
Table 15: Status word (object 0x6041), “Homing” operating mode....................................................... 45
Table 16: Definition of the homing status bits 10, 12, 13 ...................................................................... 45
Table 17: Control word (object 0x6040), “Cyclic synchronous position (CSP)” operating mode .......... 47
Table 18: Status word (object 0x6041), “Cyclic synchronous position (CSP)” operating mode ........... 48
Table 19: Control word (object 0x6040), “Cyclic synchronous velocity (CSV)” operating mode .......... 50
Table 20: Status word (object 0x6041), “Cyclic synchronous velocity (CSV)” operating mode ............ 51
Table 21: Control word (object 0x6040), “Cyclic synchronous torque (CST)” operating mode ............ 53
Table 22: Status word (object 0x6041), “Cyclic synchronous torque (CST)” operating mode .............. 54
Table 23: Object codes in encoTRive ................................................................................................... 68
Table 24: Attributes ............................................................................................................................... 68
Table 25: encoTRive data types ............................................................................................................ 68
Table 26: Communication specific standard objects ............................................................................. 69
Table 27: Profile specific objects ........................................................................................................... 92
Table 28: Values for Quick Stop Option Code ...................................................................................... 94
Table 29: Values for Shutdown Option Code ........................................................................................ 95
Table 30: Values for Disable Operation Option Code ........................................................................... 95
Table 31: Values for Halt Option Code .................................................................................................. 96
Table 32: Values for Fault Reaction Option Code ................................................................................. 96
Table 33: Values for operating mode .................................................................................................... 97
Table 34: Direction reversal................................................................................................................. 107
Table 35: SDO Abort Codes ................................................................................................................ 145
Table 36: EMCY Error register, object 0x1001.................................................................................... 146
Table 37: EMCY Error code, object 0x1003 ........................................................................................ 150
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