User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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7.1.5 Object 6064
h
: Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063h.
Object Description
Index Name Object Type Data Type
6064
h
Position Actual Value Variable SIGNED32
Table 167: Object Description (6064
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Position Actual Value no -2147483648 2147483647 0 R
Table 168: Entry Description (6064
h
)
7.1.6 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value derived from the velocity sensor.
Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 169: Object Description (606C
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Velocity Actual Value no -2147483648 2147483647 0 [rpm] R
Table 170: Entry Description (606C
h
)
7.1.7 Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. Every new
target position is checked against these limits. The limit positions are always relative to the machine home
position. Before being compared with the target position, they are corrected internally by the home offset
as follows:
Corrected min position limit = min position limit - home offset
Corrected max position limit = max position limit - home offset
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