User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 33
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4.2.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062
h
indicates
the actual position that the motor should have. It is not to be confused with the objects 6063
h
and 6064
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6062
h
Position demand value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
No
4.2.1.4 Object 6063
h
: Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection object
606A
h
(4.1.8) for selecting the motor or the encoder first. Object 6063
h
indicates the actual position of the
encoder or the motor, re-scaled to the microstep resolution. The value is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6063
h
Position actual internal
value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
No
4.2.1.5 Object 6064
h
: Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6064
h
Position actual value
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
No