User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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4.1.8 Object 2040
h
: Velocity Mode Settings
Object Description
Index Name Object Type Data Type
2040
h
Velocity Mode Settings Variable Record
Table 44: Object Description (2040
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 ActualVelocity no -2147483648 2147483647 0 [rpm] R
2 TargetVelocity no -200000 200000 0 [rpm] R
3 RampTargetVelocity no -2147483648 2147483647 0 [rpm] R
4 MotorHaltedVelocity no 0 200000 5 [rpm] RW
5 P_Parameter no 0 65535 0 RW
6 I_Parameter no 0 65535 0 RW
7 PI_Velocity_Error no -2147483648 2147483647 0 [rpm] R
8 PI_Velocity_Error_Sum no -2147483648 2147483647 0 R
Table 45: Entry Description (2040
h
)
4.1.9 Object 2050
h
: Position Mode Settings
Object Description
Index Name Object Type Data Type
2050
h
Position Mode Settings Variable Record
Table 46: Object Description (2050
h
)
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