Trinamic TMCM-1160, Manual, Page: 79 / 110

TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04 79 / 110
7.1.5 Object 6044
h
: vl Velocity Actual Value
This object shows the actual velocity of the motor when the motor is in velocity mode. The value is given
in the same units as vl target velocity and vl velocity demand (which depends on the setting of object 208C
h
).
Object Description
Index Name Object Type Data Type
6044
h
vl Velocity Actual Value Variable SIGNED16
Table 236: Object Description (6044
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw yes -2047. . . 2047 0
Table 237: Entry Description (6044
h
)
7.1.6 Object 6046
h
: vl Velocity Min Max Amount
This object indicates the configured minimum and maximum amount of velocity in velocity mode, accord-
ing to the settings of objects 2085
h
, 2086
h
, 2087
h
and 2088
h
. The units used by this object depend on
object 208C
h
.
Object Description
Index Name Object Type Data Type
6046
h
vl Velocity Min Max Amount Array UNSIGNED32
Table 238: Object Description (6046
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 2 2
1 Minimum velocity amount ro no 0. . . 2047 0
2 Maximum velocity amount ro no 0. . . 2047 2047
Table 239: Entry Description (6046
h
)
7.1.7 Object 6048
h
: vl Velocity Acceleration
This object indicates the configured delta speed and delta time of the slope of the acceleration ramp.
Object 6048
h
provides the acceleration used in velocity mode. The same value is also used for the de-
celeration. The value of the delta speed is given in internal units or in user units, depending on object 208E
h
.
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