User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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Object Description
Index Name Object Type Data Type
2089
h
Setting Delay Variable UNSIGNED16
Table 83: Object Description (2089
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 400 0
Table 84: Entry Description (2089
h
)
4.2.16 Object 208C
h
: Velocity Dimension Index
With this object different units can be chosen:
• Writing 0 selects internal units.
• Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
Object Description
Index Name Object Type Data Type
208C
h
Velocity Dimension Index Variable UNSIGNED8
Table 85: Object Description (208C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/181 181
Table 86: Entry Description (208C
h
)
4.2.17 Object 208E
h
: Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208C
h
. Object
208E
h
reads 0 when internal units are selected and 179 when PPS/s is selected.
Object Description
Index Name Object Type Data Type
208E
h
Acceleration Dimension Index Variable UNSIGNED8
Table 87: Object Description (208E
h
)
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