User Manual

TMCM-6213 CoE Firmware Manual • Firmware Version V1.09 | Document Revision V1.07 • 2019-MAY-16
60 / 116
5.1.9 Object 608F
h
: Position Encoder Resolution
This object defines the resolution of the encoder. The position encoder resolution is calculated by the
following formula:
position encoder resolution =
encoder increments
motor revolutions
All values are dimensionless.
Object Description
Index Name Object Type Data Type
608F
h
Position Encoder Resolution Array UNSIGNED32
Table 172: Object Description (608F
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Encoder increments rw no 0. . . 2147483647 1
2 Motor revolutions ro no 1 1
Table 173: Entry Description (608F
h
)
5.1.10 Object 60FD
h
: Digital Inputs
This object contains the states of the digital inputs of the module. Starting from bit 0, every bit reflects the
state of one digital input. The number of valid bits depends on the number of digital inputs on the module
used.
Object Description
Index Name Object Type Data Type
60FD
h
Digital inputs Variable UNSIGNED32
Table 174: Object Description (60FD
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw mappable UNSIGNED32 0
Table 175: Entry Description (60FD
h
)
5.1.11 Object 6502
h
: Supported Drive Modes
This object provides information on the supported drive modes. A bit that is set means that the mode is
supported, a bit that is not set means that the mode is not supported by the drive.
©2019 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany
Terms of delivery and rights to technical change reserved.
Download newest version at www.trinamic.com