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
6062
h
Position Demand Value Variable SIGNED32
Table 227: Object Description (6062
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 228: Entry Description (6062
h
)
6.1.4 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 229: Object Description (6063
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 ro Refer to CiA402-3 SIGNED32 no
Table 230: Entry Description (6063
h
)
6.1.5 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 231: Object Description (6064
h
)
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