User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Object Description
Index Name Object Type Data Type
6099
h
Homing Speeds Array UNSIGNED32
Table 112: Object Description (6099
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 Fast Homing Speed no 0 4294967295 0 RW
2 Slow Homing Speed no 0 4294967295 0 RW
Table 113: Entry Description (6099
h
)
5.1.10 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the
state of one digital input. The number of valid bits depends on the number of digital inputs of the module.
Object Description
Index Name Object Type Data Type
60FD
h
Digital Inputs Variable UNSIGNED32
Table 114: Object Description (60FD
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Limit Switches no 0 3 0 R
Table 115: Entry Description (60FD
h
)
5.1.11 Object 6502
h
: Supported Drive Modes
This object provides information on the supported drive modes (0: not supported, 1: supported). This
object is organized bit-wise. The bits have the following meaning:
Bit 0: profile position mode
Bit 1: velocity mode
Bit 2: profile velocity mode
Bit 3: profile torque mode
Bit 4: reserved
Bit 5: homing mode
Bit 6: interpolated position mode
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