User Manual

TMCM-6212 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.05 • 2019-FEB-13
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Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Mode rw no 0/1 0
2 Latched internal position ro no SIGNED32 0
3 Latched encoder position ro no SIGNED32 0
Table 76: Entry Description (200F
h
)
4.2.11 Object 2010
h
: Profile Start Velocity
This object contains the velocity with which a positioning ramp will be started.
Object Description
Index Name Object Type Data Type
2010
h
Profile Start Velocity Variable UNSIGNED32
Table 77: Object Description (2010
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 268435455 0
Table 78: Entry Description (2010
h
)
4.2.12 Object 2011
h
: Profile A1
This object contains the acceleration value used for ramping up from the start velocity (object 2011
h
, see
section 4.2.11) to the velocity V1 (object (
h
2012), see section 4.2.13).
Object Description
Index Name Object Type Data Type
2011
h
Profile A1 Variable UNSIGNED32
Table 79: Object Description (2011
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 80: Entry Description (2011
h
)
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