User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 54
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4.4.1.4 Object 6043
h
: vl Velocity Demand
The object provides the instantaneous velocity generated by the ramp function. It shows the last target
velocity that has been set using object 6042
h
. The value is given in the same unit as the target velocity,
too. Please refer to object 208C
h
(paragraph 0) for more information about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6043
h
vl velocity demand
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
0
4.4.1.5 Object 6044
h
: vl Velocity Actual Value
This object shows the actual velocity of the motor when the motor is in velocity mode. The value is given
in the same unit as vl target velocity and vl velocity demand. Please refer to object 208C
h
(paragraph 0) for
more information about that.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6044
h
vl velocity actual value
Variable
SIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
Refer to CiA402-3
SIGNED32
0
4.4.1.6 Object 6046
h
: vl Velocity Min Max Amount
This object indicates the configured minimum and maximum amount of velocity in velocity mode.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6046
h
vl velocity min max amount
ARRAY
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
00
h
Highest sub-index supported
c
Refer to CiA402-3
02
h
2
01
h
Minimum velocity amount
rw/ro
Refer to CiA402-3
UNSIGNED32
0
02
h
Maximum velocity amount
rw/ro
Refer to CiA402-3
UNSIGNED32
2047