User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Lower 32 Bits ro no 0. . . ffffffff
h
0
2 Higher 32 Bits ro no 0. . . ffffffff
h
0
3 64 Bit Value ro no 0. . . ffffffffffffffff
h
0
Table 148: Entry Description (210B
h
)
4.2.49 Object 2121
h
: PWM Scale Value
Actual PWM scale value used when the motor driver is operaing in stealthChop mode.
Object Description
Index Name Object Type Data Type
2121
h
PWM Scale Value Variable UNSIGNED8
Table 149: Object Description (2121
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 —
Table 150: Entry Description (2121
h
)
4.2.50 Object 2122
h
: Measured Velocity
This object contains the velocity measured by the motor driver. This value is important only when the
motor driver is operating in dcStep mode.
Object Description
Index Name Object Type Data Type
2122
h
Measured Velocity Variable SIGNED32
Table 151: Object Description (2122
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -16777215. . . 16777215 —
Table 152: Entry Description (2122
h
)
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