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) 46<br />
7.2.1.3 Object 6062 h, 6862 h, and 7062 h: Position demand value<br />
This object provides the demanded position value. The value is given in microsteps. Object 6062 h<br />
indicates the actual position that the motor should have. It is not to be confused with the objects<br />
6063 h and 6064 h .<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6062 h (motor 0)<br />
6862 h (motor 1)<br />
7062 h (motor 2)<br />
Position demand value Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 SIGNED32 No<br />
7.2.1.4 Object 6063 h, 6863 h, and 7063 h: Position actual internal value<br />
This object provides the actual value of the encoder or the motor. Please use the sensor selection<br />
object 606A h (0) for selecting the motor or the encoder first. Object 6063 h indicates the actual position<br />
of the encoder or the motor, re-scaled to the microstep resolution. The value is given in microsteps.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6063 h (motor 0)<br />
6863 h (motor 1)<br />
7063 h (motor 2)<br />
Position actual internal<br />
value<br />
Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 SIGNED32 No<br />
7.2.1.5 Object 6064 h, 6864 h, and 7064 h: Position actual value<br />
This object provides the actual value of the position measurement device. It always contains the<br />
same value as object 6063 h .<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6064 h (motor 0)<br />
6864 h (motor 1)<br />
7064 h (motor 2)<br />
Position actual value Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 SIGNED32 No<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG