User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Object Description
Index Name Object Type Data Type
2102
h
Home Offset Display Variable UNSIGNED8
Table 143: Object Description (2102
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 0
Table 144: Entry Description (2102
h
)
4.2.47 Object 2107
h
: Microstep Resolution Display
This object shows the microstep resolution, set by object 2000
h
(please see section 4.2.1).
Object Description
Index Name Object Type Data Type
2107
h
Microstep resolution display Variable UNSIGNED8
Table 145: Object Description (2107
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 8 8
Table 146: Entry Description (2107
h
)
4.2.48 Object 210B
h
: Step Counter
This object shows the overall number of microsteps done by this motor so far. The value can be read as a
64 bit value (sub-index 3) or split into two 32 bit values (sub-index 1 and sub-index 2).
Object Description
Index Name Object Type Data Type
210B
h
Step Counter Variable RECORD
Table 147: Object Description (210B
h
)
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