User Manual

TMCM-3351 CANopen® Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2019-FEB-14
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Object Description
Index Name Object Type Data Type
6062
h
Position Demand Value Variable SIGNED32
Table 394: Object Description (6062
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 395: Entry Description (6062
h
)
11.1.4 Object 6063
h
: Position Actual Internal Value
This object provides the actual value of the encoder or the motor. Please use the sensor selection
object 606A
h
(see section 5.1.8) for selecting the motor or the encoder first. Object 6063
h
indicates the
actual position of the encoder or the motor, re-scaled to the microstep resolution. The value is given in
microsteps.
Object Description
Index Name Object Type Data Type
6063
h
Position Actual Internal Value Variable SIGNED32
Table 396: Object Description (6063
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 397: Entry Description (6063
h
)
11.1.5 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
.
Object Description
Index Name Object Type Data Type
6064
h
Position Actual Value Variable SIGNED32
Table 398: Object Description (6064
h
)
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