TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 41<br />
7.1.8 Object 606A h, 686A h, and 706A h: Sensor selection code<br />
This object provides the source of the velocity sensor actual value. It selects whether an encoder is to<br />
be used or not.<br />
VALUE DEFINITION<br />
Value Definition<br />
0 Encoder used<br />
-1 No encoder<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
606A h (motor 0)<br />
686A h (motor 1)<br />
706A h (motor 2)<br />
Sensor selection code Variable SIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 See value definition above -1<br />
7.1.9 Object 60C5 h, 68C5 h, and 70C5 h: Max acceleration<br />
This object indicates the configured maximal acceleration. It is used to limit the acceleration to an<br />
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. It is<br />
given in internal or user specific units (depending on object 208C h , paragraph 8.1.17, object 2087 h and<br />
object 2088 h , paragraph 8.1.15 and paragraph 0)<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
60C5 h (motor 0)<br />
68C5 h (motor 1)<br />
70C5 h (motor 2)<br />
Max acceleration Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
7.1.10 Object 60C6 h, 68C6 h, and 70C6 h: Max deceleration<br />
This object indicates the configured maximal deceleration. It is used to limit the acceleration to an<br />
acceptable value in order to prevent the motor and the moved mechanics from being destroyed. The<br />
max deceleration is given in internal or user specific units (depending on object 208C h , paragraph<br />
8.1.17, object 2087 h and object 2088 h , paragraph 8.1.15 and paragraph 0). Object 60C6 h has the same<br />
unit as the max acceleration object 60C5 h .<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
60C6 h (motor 0)<br />
68C6 h (motor 1)<br />
70C6 h (motor 2)<br />
Max deceleration Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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