User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
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4.2.51 Object 2121
h
: PWM Scale Value
Actual PWM scale value used when the motor driver is operaing in StealthChop mode.
Object Description
Index Name Object Type Data Type
2121
h
PWM Scale Value Variable UNSIGNED8
Table 135: Object Description (2121
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 255 —
Table 136: Entry Description (2121
h
)
4.2.52 Object 2122
h
: Measured Velocity
This object contains the velocity measured by the motor driver. This value is important only when the
motor driver is operating in DcStep mode.
Object Description
Index Name Object Type Data Type
2122
h
Measured Velocity Variable SIGNED32
Table 137: Object Description (2122
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no -16777215. . . 16777215 —
Table 138: Entry Description (2122
h
)
4.2.53 Object 3002
h
: Device Digital Inputs
Bits 23. . . 16 of this object reflect the states of the general purpose inputs of the module. The number of
available inputs depends on the module type.
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