User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Object Description
Index Name Object Type Data Type
606C
h
Velocity Actual Value Variable SIGNED32
Table 298: Object Description (606C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 299: Entry Description (606C
h
)
8.2.4 Object 607C
h
: Home Offset
This object indicates the configured difference between the zero position for the application and the
machine home position/home switch (found during homing). While homing, the machine home position is
found and once the homing is completed, the zero position is offset from the home position by adding the
home offset to the home position. The effect of setting the home position to a non-zero value depends on
the selected homing method. The value of this object is given in microsteps. Negative values indicate the
opposite direction.
Home offset
Zero position
Home switch
Figure 20: Home Offset
Object Description
Index Name Object Type Data Type
607C
h
Home offset Variable SIGNED32
Table 300: Object Description (607C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no SIGNED32 0
Table 301: Entry Description (607C
h
)
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