User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 ActualPosition no -2147483648 2147483647 0 RW
2 TargetPosition no -2147483648 2147483647 0 R
3 RampTargetPosition no -2147483648 2147483647 0 R
4 P_Parameter no 0 65535 0 RW
5 PI_Position_Error no -2147483648 2147483647 0 R
6 TargetReachedVelocity no 0 200000 500 [rpm] RW
7 TargetReachedDistance no 0 100000 5 RW
Table 65: Entry Description (2050
h
)
4.1.9 Object 2055
h
: Commutation Mode
Select a commutation mode that fits best to your motor’s sensors.
6 : FOC (hall sensor)
7 : FOC (encoder)
8 : FOC (controlled)
Object Description
Index Name Object Type Data Type
2055
h
Commutation Mode Variable Record
Table 66: Object Description (2055
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Commutation Mode no 6 8 6 RW
Table 67: Entry Description (2055
h
)
4.1.10 Object 2056
h
: Velocity Ramp Mode
An activated ramp allows a defined acceleration for velocity and position mode.
Object Description
Index Name Object Type Data Type
2056
h
Velocity Ramp Mode Variable UNSIGNED8
Table 68: Object Description (2056
h
)
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