User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Object Description
Index Name Object Type Data Type
6061
h
Modes of operation display Variable SIGNED8
Table 181: Object Description (6061
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw refer to CiA-402 0/1/3/6 0
Table 182: Entry Description (6061
h
)
5.1.8 Object 606A
h
: Sensor selection code
This object provides the source of the velocity sensor actual value. It selects whether an encoder is to be
used or not.
Value Definition
Value Mode
0 Encoder used
-1 No encoder
Table 183: Value Description (606A
h
)
Object Description
Index Name Object Type Data Type
606A
h
Sensor selection code Variable SIGNED16
Table 184: Object Description (606A
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/-1 -1
Table 185: Entry Description (606A
h
)
5.1.9 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
position encoder resolution =
encoder increments
motor revolutions
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