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
6067
h
Position Window Variable UNSIGNED32
Table 220: Object Description (6067
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED32 FFFFFFFF
h
Table 221: Entry Description (6067
h
)
6.1.8 Object 6068
h
: Position Window Time
This object indicates the configured time, during which the actual position within the position window is
measured. The value is given in ms. If this object is set to a value greater than zero and also the position
window (6067
h
) is set to a value greater than zero the target reached event will not be signaled until the
actual position (6064
h
) is at least as many milliseconds within the position window as defined by this
object.
Object Description
Index Name Object Type Data Type
6068
h
Position Window Time Variable UNSIGNED16
Table 222: Object Description (6068
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no UNSIGNED16 0
Table 223: Entry Description (6068
h
)
6.1.9 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208C
h
, described in section 4.2.16).
Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 224: Object Description (606C
h
)
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