Trinamic TMCM-1160, Manual, Page: 78 / 110

TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 78 / 110
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 See state coding above
Table 231: Entry Description (6041
h
in vl Mode)
7.1.3 Object 6042
h
: vl Target Velocity
This object indicates the required target velocity when the velocity mode is active. Use this object to
control the velocity of the motor in velocity mode. After writing to this object the motor will be accelerated
or decelerated to the new velocity. The range depends on the chosen units, which can be internal or
user-specific. Please refer to object 208C
h
for more information about the velocity units.
Object Description
Index Name Object Type Data Type
6042
h
vl Target Velocity Variable SIGNED16
Table 232: Object Description (6042
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw yes -2047. . . 2047 0
Table 233: Entry Description (6042
h
)
7.1.4 Object 6043
h
: vl Velocity Demand
The object provides the instantaneous velocity generated by the ramp function. It shows the last target
velocity that has been set using object 6042
h
. The units used for this object depend on the setting of object
208C
h
.
Object Description
Index Name Object Type Data Type
6043
h
vl Velocity Demand Variable SIGNED16
Table 234: Object Description (6043
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no -2047. . . 2047 0
Table 235: Entry Description (6043
h
)
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