User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 —
Table 152: Entry Description (2121
h
)
4.2.51 Object 2122
h
: Measured Velocity
This object contains the velocity measured by the motor driver. This value is important only when the
motor driver is operating in dcStep mode.
Object Description
Index Name Object Type Data Type
2122
h
Measured Velocity Variable SIGNED32
Table 153: Object Description (2122
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -16777215. . . 16777215 —
Table 154: Entry Description (2122
h
)
4.2.52 Object 2700
h
: TMCL Direct Communication
After writing the make signature 656b616d
h
to this object the drive switches to TMCL mode. The drive can
then only be controlled via TMCL commands written to the OS command object 1023/01
h
.
The drive can only be reset to normal CANopen functionality using the DS-301 reset application command.
Object Description
Index Name Object Type Data Type
2700
h
TMCL Direct Communication Variable UNSIGNED32
Table 155: Object Description (2700
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 656b616d
h
0
Table 156: Entry Description (2700)
h
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