User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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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 373: Entry Description (6041
h
in csv Mode)
10.1.3 Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208C
h
, described in section 4.2.37).
Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 374: Object Description (606C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 375: Entry Description (606C
h
)
10.1.4 Object 60FF
h
: Target Velocity
In csv mode the target velocity specifies the velocity that is to be reached within the interpolation time
period. The values are given in units which can be selected with object 208C
h
, described in section 4.2.37.
Object Description
Index Name Object Type Data Type
60FF
h
Target Velocity Variable SIGNED32
Table 376: Object Description (60FF
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 SIGNED32 0
Table 377: Entry Description (60FF
h
)
10.1.5 Object 607D
h
: Software Position Limit
This object indicates the configured maximal and minimal software position limits. These parameters
define the absolute position limits for the position demand value and the position actual value. Every new
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