User Manual

PD42-1270 CANopen
®
Firmware Manual • Firmware Version V3.19 | Document Revision V1.0 • 2017-Mar-02
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4.2.37 Object 20B2
h
: PWM Amplitude
Maximum PWM amplitude when switching to stealthChop mode. Do not set too low. Values above 64 are
recommended.
Object Description
Index Name Object Type Data Type
20B2
h
PWM Amplitude Variable UNSIGNED8
Table 124: Object Description (20B2
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 125: Entry Description (20B2
h
)
4.2.38 Object 20B3
h
: dcStep Minimum Speed
Minimum speed for switching to dcStep. The motor driver will not switch to dcStep mode when the actual
velocity is below this value. Setting this object to zero completely switches off dcStep.
Object Description
Index Name Object Type Data Type
20B3
h
dcStep Minimum Speed Variable UNSIGNED32
Table 126: Object Description (20B3
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 127: Entry Description (20B3
h
)
4.2.39 Object 20B4
h
: dcStep Time
This setting controls the reference pulse width for dcStep load measurement. It must be optimized for
robust operation with maximum motor torque. A higher value allows higher torque and higher velocity, a
lower value allows operation down to a lower velocity as set by the minimum dcStep speed (object 20B3
h
,
see section 4.2.38).
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