User Manual

TMCM-3212 CANopen
®
Firmware Manual • Firmware Version V3.20 | Document Revision V1.03 • 2017-JUN-09
41 / 119
Object Description
Index Name Object Type Data Type
2089
h
Setting Delay Variable UNSIGNED16
Table 82: Object Description (2089
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 400 0
Table 83: Entry Description (2089
h
)
4.2.16 Object 208C
h
: Velocity Dimension Index
With this object different units can be chosen:
• Writing 0 selects internal units.
• Writing 181 sets PPS for velocity and PPS/s for acceleration.
This can only be changed in SWITCHED_ON_DISABLED mode.
Object Description
Index Name Object Type Data Type
208C
h
Velocity Dimension Index Variable UNSIGNED8
Table 84: Object Description (208C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/181 181
Table 85: Entry Description (208C
h
)
4.2.17 Object 208E
h
: Acceleration Dimension Index
With this object, the unit for acceleration can be read out. The unit can be set using object 208Ch. Object
208Eh reads 0 when internal units are selected and 179 when PPS/s is selected.
Object Description
Index Name Object Type Data Type
208E
h
Acceleration Dimension Index Variable UNSIGNED8
Table 86: Object Description (208E
h
)
©2017 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com
Read entire documentation.