TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Object Description
Index
Name
Object Type
Data Type
6067
h
Position Window
Variable
UNSIGNED32
Table 202: Object Description (6067
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED32
FFFFFFFF
h
Table 203: Entry Description (6067
h
)
6.1.8
Object 6068
h
: Position Window Time
This object indicates the configured time, during which the actual position within the position window is
measured. The value is given in ms. If this object is set to a value greater than zero and also the position
window (6067
h
) is set to a value greater than zero the target reached event will not be signaled until the
actual position (6064
h
) is at least as many milliseconds within the position window as defined by this
object.
Object Description
Index
Name
Object Type
Data Type
6068
h
Position Window Time
Variable
UNSIGNED16
Table 204: Object Description (6068
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
no
UNSIGNED16
0
Table 205: Entry Description (6068
h
)
6.1.9
Object 606C
h
: Velocity Actual Value
This object shows the actual velocity value of the motor. The value is given in internal or user-defined
velocity units (depending on object 208C
h
, described in section
Object Description
Index
Name
Object Type
Data Type
606C
h
Velocity Actual Value
Variable
SIGNED32
Table 206: Object Description (606C
h
)
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