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
606C
h
Velocity Actual Value Variable SIGNED32
Table 192: 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 193: Entry Description (606C
h
)
8.2.4 Object 607C
h
: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home position is
found and once the homing is completed, the zero position is offset from the home position by adding the
home offset to the home position. The effect of setting the home position to a non-zero value depends on
the selected homing method. Negative values indicate the opposite direction.
Object Description
Index Name Object Type Data Type
607C
h
Home Offset Variable SIGNED32
Table 194: Object Description (607C
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Home Offset no -2147483648 2147483647 0 RW
Table 195: Entry Description (607C
h
)
8.2.5 Object 6098
h
: Homing Method
The actual homing method.
Object Description
Index Name Object Type Data Type
6098
h
Homing Method Variable SIGNED8
Table 196: Object Description (6098
h
)
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