User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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Value Definition
Value Mode
0 Internal magnetic encoder
-1 No encoder
-2 External incremental encoder
Table 202: Value Description (606A
h
)
Object Description
Index Name Object Type Data Type
606A
h
Sensor selection code Variable SIGNED16
Table 203: Object Description (606A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/-1/-2 -1
Table 204: Entry Description (606A
h
)
5.1.9 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
position encoder resolution =
encoder increments
motor revolutions
All values are dimensionless.
This object is only valid for an externally connected inremental encoder. The resolution of the internal
encoder is fixed.
Object Description
Index Name Object Type Data Type
608F
h
Position Encoder Resolution Array UNSIGNED32
Table 205: Object Description (608F
h
)
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