User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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1: Profile position mode (pp)
3: Profile velocity mode (pv)
6: Homing mode (hm)
10: Cyclic torque mode (cst)
Object Description
Index Name Object Type Data Type
6061
h
Modes of Operation Display Variable SIGNED8
Table 108: Object Description (6061
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Modes of Operation Display no 0 10 0 R
Table 109: Entry Description (6061
h
)
5.1.8 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula: position encoder resolution = encoder increments / motor revolutions.
Object Description
Index Name Object Type Data Type
608F
h
Position Encoder Resolution Array UNSIGNED32
Table 110: Object Description (608F
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 Encoder increments no 0 65535 4000 RW
2 Motor revolutions no 1 1 1 R
Table 111: Entry Description (608F
h
)
5.1.9 Object 6099
h
: Homing Speeds
This object indicates the configured speeds used during fast and slow homing procedure. In most homing
modes, the home switch is searched with the fast speed first. When the home switch has been found, the
motor will be decelerated to the slow speed (using the homing acceleration, object 609Ah) to search for
the exact switch point. When the switch point has been found the motor will be stopped at that point.
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