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 276: 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 277: Entry Description (60A4
h
)
6.1.19 Object 60F2
h
: Positioning Option Code
This object indicates the positioning behaviour in profile position mode. Only bits 0 and 1 (relative option)
are supported.
Bit Definitions
Bit 1 Bit 0 Definition
0 0 Positioning moves shall be performed relative to the preceding (internal absolute) target
position.
0 1 Positioning moves shall be performed relative to the actual position demand value
(object 6063
h
).
1 0 Positioning moves shall be performed relative to the position actual value (object 6064
h
).
1 1 reserved
Table 278: Bit Definitions of Object 60F2
h
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