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
2107
h
Microstep resolution display Variable UNSIGNED8
Table 174: Object Description (2107
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro no 0. . . 8 8
Table 175: Entry Description (2107
h
)
4.2.60 Object 210B
h
: Step Counter
This object shows the overall number of microsteps done by this motor so far. The value can be read as a
64 bit value (sub-index 3) or split into two 32 bit values (sub-index 1 and sub-index 2).
Object Description
Index Name Object Type Data Type
210B
h
Step Counter Variable RECORD
Table 176: Object Description (210B
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Lower 32 Bits ro no 0. . . ffffffff
h
0
2 Higher 32 Bits ro no 0. . . ffffffff
h
0
3 64 Bit Value ro no 0. . . ffffffffffffffff
h
0
Table 177: Entry Description (210B
h
)
4.2.61 Object 2120
h
: Closed Loop Initialization Flag
The closed-loop intialization flag reads 1 when closed-loop is active and the initialzation of closed-loop has
finished. Otherwise this object reads 0.
Object Description
Index Name Object Type Data Type
2120
h
Closed Loop Intialization Flag Variable UNSIGNED8
Table 178: Object Description (2120
h
)
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