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) 64<br />
7.4.1.4 Object 6043 h, 6843 h, and 7043 h: vl velocity demand<br />
The object provides the instantaneous velocity generated by the ramp function. It shows the last<br />
target velocity that has been set using object 6042 h . The value is given in the same unit as the target<br />
velocity, too. Please refer to object 208C h (paragraph 8.1.17) for more information about that.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6043 h (motor 0)<br />
6843 h (motor 1)<br />
7043 h (motor 2)<br />
vl velocity demand Variable SIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 SIGNED32 Depends on the units.<br />
7.4.1.5 Object 6044 h, 6844 h, and 7044 h: vl velocity actual value<br />
This object shows the actual velocity of the motor when the motor is in velocity mode. The value is<br />
given in the same unit as vl target velocity and vl velocity demand. Please refer to object 208C h<br />
(paragraph 8.1.17) for more information about that.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6044 h (motor 0)<br />
6844 h (motor 1)<br />
7044 h (motor 2)<br />
vl velocity actual value Variable SIGNED16<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro Refer to CiA402-3 SIGNED32 Depends on the units.<br />
7.4.1.6 Object 6046 h, 6846 h, and 7046 h: vl velocity min max amount<br />
This object indicates the configured minimum and maximum amount of velocity in velocity mode.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
6046 h (motor 0)<br />
6846 h (motor 1)<br />
7046 h (motor 2)<br />
vl velocity min max amount ARRAY UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
01 h Minimum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
02 h Maximum velocity amount rw/ro Refer to CiA402-3 UNSIGNED32 Depends on the units<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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