TMCM-1160 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2019-JAN-04
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Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
rw
see CiA402-3
See state coding above
Table 253: Entry Description (6041
h
in pv Mode)
8.1.3
Object 6062
h
: Position Demand Value
This object provides the demanded position value. The value is given in microsteps. Object 6062
h
indicates
the actual position that the motor should have. It is not to be confused with objects 6063
h
and 6064
h
.
Object Description
Index
Name
Object Type
Data Type
6062
h
Position Demand Value
Variable
SIGNED32
Table 254: Object Description (6062
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 255: Entry Description (6062
h
)
8.1.4
Object 6063
h
: Position Actual Internal Value
This object provides the demanded position value. The value is given in microsteps. It is the same as object
6062
h
.
Object Description
Index
Name
Object Type
Data Type
6063
h
Position Actual Internal Value
Variable
SIGNED32
Table 256: Object Description (6063
h
)
Entry Description
Sub-index
Access
PDO Mapping
Value Range
Default Value
0
ro
Refer to CiA402-3
SIGNED32
no
Table 257: Entry Description (6063
h
)
8.1.5
Object 6064
h
: Position Actual Value
This object provides the actual value of the position measurement device. It always contains the same
value as object 6063
h
.
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