User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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All values are dimensionless.
Object Description
Index Name Object Type Data Type
608F
h
Position Encoder Resolution Array UNSIGNED32
Table 186: Object Description (608F
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Encoder increments rw no 0. . . 2147483647 1
2 Motor revolutions ro no 1 1
Table 187: Entry Description (608F
h
)
5.1.10 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the
state of one digital input. The number of valid bits depends on the number of digital inputs on the module
used.
Object Description
Index Name Object Type Data Type
60FD
h
Digital inputs Variable UNSIGNED32
Table 188: Object Description (60FD
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw mappable UNSIGNED32 0
Table 189: Entry Description (60FD
h
)
5.1.11 Object 6502
h
: Supported Drive Modes
This object provides information on the supported drive modes. A bit that is set means that the mode is
supported, a bit that is not set means that the mode is not supported by the drive.
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