User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
49 / 109
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 0
Table 124: Entry Description (2102
h
)
4.2.36 Object 2107
h
: Microstep Resolution Display
This object shows the microstep resolution, set by object 2000
h
(please see section 4.2.1).
Object Description
Index Name Object Type Data Type
2107
h
Microstep resolution display Variable UNSIGNED8
Table 125: Object Description (2107
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 8 8
Table 126: Entry Description (2107
h
)
4.2.37 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 127: 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 128: Entry Description (210B
h
)
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com