User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 58
www.trinamic.com
4.5.1.5 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
. The value is given in microsteps.
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
4.5.1.6 Object 6065
h
: Following Error Window
This object indicates the configured range of tolerated position values symmetrically to the position
demand value. If the position actual value is out of the following error window, a following error occurs.
A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong
closed-loop coefficients. The value is given in microsteps. If the value of the following error window is 0
or FFFF FFFF
h
, the following control will be switched off.
When the difference between motor position (object 6062
h
) and encoder position (object 6063
h
or 6064
h
)
is greater than the value set here, the motor will be stopped and an emergency message will be sent.
Setting this object to zero will turn off this feature completely. Setting this object to a too low value will
lead to false alarms.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
6065
h
Following error
window
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
Refer to CiA402-3
UNSIGNED32
0… 8388607
4.5.1.7 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