User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Position Actual Value yes -2147483648 2147483647 0 R
Table 94: Entry Description (6064
h
)
6.2.6 Object 6067
h
: Position Window
This object indicates the configured symmetrical range of accepted positions relative to the target position.
If the actual value of the position encoder is within the position window, this target position is regarded as
having been reached. The value is given in increments. If the value of the position window is FFFFFFFFh, the
position window control is switched off. If this object is set to zero, the target reached event will be signaled
when the demand position (6062h) has reached the target position (6064h). When the position window is
set to a value greater than zero, the target reached event will be signaled when the actual encoder position
value (6064h) is within (target_position - position_window) and (target_position + position_window).
Object Description
Index Name Object Type Data Type
6067
h
Position Window Variable UNSIGNED32
Table 95: Object Description (6067
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
0 Position Window no 0 4294967295 4294967295 RW
Table 96: Entry Description (6067
h
)
6.2.7 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 97: Object Description (606C
h
)
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