User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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4.2.18 Object 2021
h
: Correction Position P
Proportional controller P parameter for compensating a detected position deviation. Resulting P parameter
is this parameter divided by 65536.
Object Description
Index Name Object Type Data Type
2021
h
Correction position P Variable UNSIGNED32
Table 91: Object Description (2021
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 92: Entry Description (2021
h
)
4.2.19 Object 2022
h
: Maximum Correction Tolerance
This object defines the tolerance range for position deviation.
Object Description
Index Name Object Type Data Type
2022
h
Maximum correction tolerance Variable UNSIGNED8
Table 93: Object Description (2022
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 94: Entry Description (2022
h
)
4.2.20 Object 2027
h
: Closed Loop Beta
This object sets the maximum commutation angle that can be used to compensate for an evaluated
position deviation.
Object Description
Index Name Object Type Data Type
2027
h
Maximum correction tolerance Variable UNSIGNED16
Table 95: Object Description (2027
h
)
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