User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
101 / 114
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 305: Entry Description (6041
h
in csp Mode)
9.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062
h
indicates
the actual position that the motor should have. It is not to be confused with objects 6063
h
and 6064
h
.
Object Description
Index Name Object Type Data Type
6062
h
Position Demand Value Variable SIGNED32
Table 306: Object Description (6062
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 307: Entry Description (6062
h
)
9.1.4 Object 6063
h
: Position Actual Internal Value
This object provides the demanded position value. The value is given in microsteps. It is the same as object
6062
h
.
Object Description
Index Name Object Type Data Type
6063
h
Position Actual Internal Value Variable SIGNED32
Table 308: Object Description (6063
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 309: Entry Description (6063
h
)
9.1.5 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
.
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