User Manual

TMCM-3313 CoE Firmware Manual • Firmware Version V1.01 | Document Revision V1.02 • 2016-NOV-29
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Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 249: Entry Description (6041
h
in pv Mode)
7.1.3 Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062
h
indicates
the actual position that the motor should have. It is not to be confused with objects 6063
h
and 6064
h
.
Object Description
Index Name Object Type Data Type
6062
h
Position Demand Value Variable SIGNED32
Table 250: Object Description (6062
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 251: Entry Description (6062
h
)
7.1.4 Object 6063
h
: Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection
object 606A
h
(see section 5.1.8) for selecting the motor or the encoder first. Object 6063
h
indicates the
actual position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in
microsteps.
Object Description
Index Name Object Type Data Type
6063
h
Position Actual Internal Value Variable SIGNED32
Table 252: Object Description (6063
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 253: Entry Description (6063
h
)
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