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
60A4
h
Profile Jerk Array UNSIGNED32
Table 235: Object Description (60A4
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 4 4
1 Profile jerk 1 rw no 0. . . 16777215 0
2 Profile jerk 2 rw no 0. . . 16777215 0
3 Profile jerk 3 rw no 0. . . 16777215 0
4 Profile jerk 4 rw no 0. . . 16777215 0
Table 236: Entry Description (60A4
h
)
6.1.19 Object 60F2
h
: Positioning Option Code
This object indicates the positioning behaviour in profile position mode. Only bits 0 and 1 (relative option)
are supported.
Bit Definitions
Bit 1 Bit 0 Definition
0 0 Positioning moves shall be performed relative to the preceding (internal absolute) target
position.
0 1 Positioning moves shall be performed relative to the actual position demand value
(object 6063
h
).
1 0 Positioning moves shall be performed relative to the position actual value (object 6064
h
).
1 1 reserved
Table 237: Bit Definitions of Object 60F2
h
Object Description
Index Name Object Type Data Type
60F2
h
Positioning option code Variable UNSIGNED16
Table 238: Object Description (60F2
h
)
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