User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 162: Entry Description (6041
h
in pv Mode)
7.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in hall or encoder steps. Object
6062h indicates the actual position that the motor should have. It is not to be confused with objects 6063h
and 6064h.
Object Description
Index Name Object Type Data Type
6062
h
Position Demand Value Variable SIGNED32
Table 163: Object Description (6062
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Position Demand Value no -2147483648 2147483647 0 R
Table 164: Entry Description (6062
h
)
7.1.4 Object 6063
h
: Position Actual Internal Value
This object provides the actual position value of the motor.
Object Description
Index Name Object Type Data Type
6063
h
Position Actual Internal Value Variable SIGNED32
Table 165: Object Description (6063
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Position Actual Internal Value no -2147483648 2147483647 0 R
Table 166: Entry Description (6063
h
)
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