User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Note
The TMC4361 motion controller used on the TMCM-3351 module also offers bow
values higher than the 32 bit range. Under most circumstances, the normal 32 bit
value range is sufficient. Use object 2015
h
if higher values are required.
Object Description
Index Name Object Type Data Type
60A4
h
Profile Jerk Array UNSIGNED32
Table 312: Object Description (60A4
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
0 Highest sub-index supported ro no 4 4
1 Profile jerk 1 rw no 0. . . 2147483647 0
2 Profile jerk 2 rw no 0. . . 2147483647 0
3 Profile jerk 3 rw no 0. . . 2147483647 0
4 Profile jerk 4 rw no 0. . . 2147483647 0
Table 313: Entry Description (60A4
h
)
7.1.14 Object 60FF
h
: Target Velocity
This object indicates the configured target velocity and is used as input for the trajectory generator. Object
60FF
h
sets the target velocity when using profile velocity mode. The drive then accelerates or decelerates
to that velocity using the acceleration and deceleration set by objects 6083
h
and 6084
h
. The values are
given in units which can be selected with object 208C
h
, described in section 4.2.37.
Object Description
Index Name Object Type Data Type
60FF
h
Target Velocity Variable SIGNED32
Table 314: Object Description (60FF
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw see CiA402-3 SIGNED32 0
Table 315: Entry Description (60FF
h
)
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