TMCM-1637 CANopen®Firmware Manual •Firmware Version V1.09 | Document Revision V1.00 •2020-JUL-17 4 / 109
7.1.6 Object 6065h: Following Error Window ........................... 66
7.1.7 Object 606Ch: Velocity Actual Value ............................. 66
7.1.8 Object 607Dh: Software Position Limit ........................... 67
7.1.9 Object 6083h: Profile Acceleration .............................. 67
7.1.10 Object 6085h: Quick Stop Deceleration ........................... 68
7.1.11 Object 60FFh: Target Velocity ................................. 68
7.2 How to move a Motor in pv Mode ................................... 69
8 Homing Mode 70
8.1 Homing Methods ............................................. 71
8.1.1 Homing Method 17: Homing on negative Limit Switch .................. 71
8.1.2 Homing Method 18: Homing on positive Limit Switch .................. 71
8.1.3 Homing Method 19: Homing on positive Home Switch .................. 72
8.1.4 Homing Method 21: Homing on negative Home Switch ................. 72
8.1.5 Homing Method 35: Current Position as Home Position ................. 73
8.2 Detailed Object Specifications ...................................... 74
8.2.1 Object 6040h: Control Word ................................. 74
8.2.2 Object 6041h: Status Word .................................. 75
8.2.3 Object 606Ch: Velocity Actual Value ............................. 76
8.2.4 Object 607Ch: Home Offset .................................. 77
8.2.5 Object 6098h: Homing Method ................................ 78
8.2.6 Object 6099h: Homing Speeds ................................ 78
8.2.7 Object 609Ah: Homing Acceleration ............................. 78
8.3 How to start a Homing in hm Mode .................................. 79
9 Cyclic synchronous Position Mode 80
9.1 Detailed Object Specifications ...................................... 80
9.1.1 Object 6040h: Control Word ................................. 80
9.1.2 Object 6041h: Status Word .................................. 81
9.1.3 Object 6062h: Position Demand Value ........................... 83
9.1.4 Object 6063h: Position Actual Internal Value ........................ 83
9.1.5 Object 6064h: Position Actual Value ............................. 83
9.1.6 Object 606Ch: Velocity Actual Value ............................. 84
9.1.7 Object 607Ah: Target Position ................................ 84
9.1.8 Object 607Dh: Software Position Limit ........................... 85
9.1.9 Object 60B0h: Position Offset ................................. 85
9.1.10 Object 60C2h: Interpolation Time Period .......................... 86
10 Cyclic synchronous Velocity Mode 87
10.1 Detailed Object Specifications ...................................... 87
10.1.1 Object 6040h: Control Word ................................. 87
10.1.2 Object 6041h: Status Word .................................. 88
10.1.3 Object 606Ch: Velocity Actual Value ............................. 90
10.1.4 Object 60FFh: Target Velocity ................................. 90
10.1.5 Object 607Dh: Software Position Limit ........................... 90
10.1.6 Object 60B1h: Velocity Offset ................................. 91
10.1.7 Object 60C2h: Interpolation Time Period .......................... 91
11 Cyclic synchronous Torque Mode 93
11.1 Detailed Object Specifications ...................................... 93
11.1.1 Object 6040h: Control Word ................................. 93
11.1.2 Object 6041h: Status Word .................................. 94
11.1.3 Object 6062h: Position Demand Value ........................... 95
11.1.4 Object 6063h: Position Actual Internal Value ........................ 96
11.1.5 Object 6064h: Position Actual Value ............................. 96
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