User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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Object Description
Index Name Object Type Data Type
2107
h
Microstep resolution display Variable UNSIGNED8
Table 147: Object Description (2107
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 8 8
Table 148: Entry Description (2107
h
)
4.2.49 Object 210B
h
: Step Counter
This object shows the overall number of microsteps done by this motor so far. The value can be read as a
64 bit value (sub-index 3) or split into two 32 bit values (sub-index 1 and sub-index 2).
Object Description
Index Name Object Type Data Type
210B
h
Step Counter Variable RECORD
Table 149: Object Description (210B
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Lower 32 Bits ro no 0. . . ffffffff
h
0
2 Higher 32 Bits ro no 0. . . ffffffff
h
0
3 64 Bit Value ro no 0. . . ffffffffffffffff
h
0
Table 150: Entry Description (210B
h
)
4.2.50 Object 2121
h
: PWM Scale Value
Actual PWM scale value used when the motor driver is operaing in stealthChop mode.
Object Description
Index Name Object Type Data Type
2121
h
PWM Scale Value Variable UNSIGNED8
Table 151: Object Description (2121
h
)
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