TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
Create successful ePaper yourself
Turn your PDF publications into a flip-book with our unique Google optimized e-Paper software.
<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 48<br />
7.2.1.8 Object 6068 h, 6868 h, and 7068 h: Position window time<br />
This object indicates the configured time, during which the actual position within the position<br />
window is measured. The value is given in ms. If this object is set to a value greater than zero and<br />
also the position window (6067 h ) is set to a value greater than zero the target reached event will not<br />
be signaled until the actual position (6064 h ) is at least as many milliseconds within the position<br />
window as defined by this object.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6068 h (motor 0)<br />
6868 h (motor 1)<br />
7068 h (motor 2)<br />
Position window time Variable UNSIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 UNSIGNED16 0<br />
7.2.1.9 Object 607A h , 687A h, and 707A h: Target position<br />
The target position is the position that the drive should move to in profile position mode using the<br />
current settings of motion control parameters (such as velocity, acceleration, deceleration, motion<br />
profile type etc.). The value of this object is interpreted as absolute or relative depending on the<br />
abs/rel flag in the controlword. It is given in microsteps.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
607A h (motor 0)<br />
687A h (motor 1)<br />
707A h (motor 2)<br />
Target position Variable SIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw Refer to CiA402-3 SIGNED32 -2147483647… +2147483647<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG