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
6064
h
Position Actual Value Variable SIGNED32
Table 257: Object Description (6064
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 258: Entry Description (6064
h
)
7.1.6 Object 6065
h
: Following Error Window
This object indicates the configured range of tolerated position values symmetrically to the position
demand value. If the position actual value is out of the following error window, a following error occurs.
A following error may occur when a drive is blocked, unreachable profile velocity occurs, or at wrong
closed-loop coefficients. The value shall be given in microsteps.
When the difference between motor position (object 6062
h
) and encoder position (object 6063
h
or 6064
h
)
is greater than the value set here, the motor will be stopped and an emergency message will be sent.
Setting this object to zero will turn off this feature completely.
Note
Setting this object to a too low value will lead to false alarms.
Object Description
Index Name Object Type Data Type
6065
h
Following Error Window Variable UNSIGNED32
Table 259: Object Description (6065
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 2147483647 0
Table 260: Entry Description (6065
h
)
7.1.7 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).
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