User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 35
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4.2.1.9 Object 606C
h
: Velocity Actual Value
This object gives the actual velocity value derived either from the velocity sensor or from the position
sensor.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
606C
h
Velocity actual value
Variable
INTEGER32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
INTEGER32
no
4.2.1.10 Object 607A
h
: Target Position
The target position is the position that the drive should move to in profile position mode using the current
settings of motion control parameters (such as velocity, acceleration, deceleration, motion profile type etc.).
The value of this object is interpreted as absolute or relative depending on the abs/rel flag in the
controlword. It is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607A
h
Target position
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
SIGNED32
-2147483647… [phone]
4.2.1.11 Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters define
the absolute position limits for the position demand value and the position actual value. Every new target
position is checked against these limits. The limit positions are always relative to the machine home
position. Before being compared with the target position, they are corrected internally by the home offset
as follows:
Corrected min position limit = min position limit – home offset
Corrected max position limit = max position limit – home offset
The limit positions are given in microsteps (same as target position). Two limits for moving the motor in
positioning mode can be set here. It will then not be possible to leave this window.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
607D
h
Software position limit
Array
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Entry category
Access
PDO Mapping
Value Range
Default Value
01
h
Min position limit
Mandatory
rw
Refer to CiA402-3
SIGNED32
-2147483647
02
h
Max position limit
Mandatory
rw
Refer to CiA402-3
SIGNED32
-2147483647