User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 28
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4.1.11 Object 60C5
h
: Max Acceleration
This object indicates the configured maximaum acceleration. It is used to limit the acceleration to an
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. It is given
in internal or user specific units (depending on object 208C
h
, paragraph 0, object 2087
h
and object 2088
h
,
paragraph 0 and paragraph 5.2.14)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60C5
h
Max acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
UNSIGNED32
Depends on the units
4.1.12 Object 60C6
h
: Max Deceleration
This object indicates the configured maximal deceleration. It is used to limit the deceleration to an
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. The max
deceleration is given in internal or user specific units (depending on object 208C
h
, paragraph 0, object
2087
h
and object 2088
h
, paragraph 0 and paragraph 5.2.14). Object 60C6
h
has the same unit as the max
acceleration object 60C5
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60C6
h
Max deceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
UNSIGNED32
Depends on the units
4.1.13 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects
the state of one digital input. The number of valid bits depends on the number of digital inputs on the
module used.
VALUE DEFINITION
Value
Definition
0
b
Switched off
1
b
Switched on
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
60FD
h
Digital inputs
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
r0
Refer to CiA402-3
UNSIGNED32
0000 0000
h