User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 27
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4.1.8 Object 606A
h
: Sensor Selection Code
This object provides the source of the velocity sensor actual value. It selects whether an encoder is to be
used or not.
VALUE DEFINITION
Value
Definition
0
Encoder used
-1
No encoder
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606A
h
Sensor selection code
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
See value definition above
-1
4.1.9 Object 6085
h
: Quick Stop Deceleration
This object indicates the configured deceleration used to stop the motor when the quick stop function is
activated and the quick stop code object 605A
h
is set to 2 [or 6]. The value is given in the same unit as
profile acceleration object 6083
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6085
h
Quick stop deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
1000
4.1.10 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
 


All values are dimensionless.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
608F
h
Encoder resolution
Array
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Entry category
Access
PDO Mapping
Value Range
Default Value
00
h
Highest sub index
supported
Mandatory
c
Refer to CiA402
02
h
2
01
h
Encoder
increments
Mandatory
rw
Refer to CiA402
UNSIGNED32
1
02
h
Motor revolutions
Mandatory
ro
Refer to CiA402
UNSIGNED32
2