User Manual

TMCC160 CANopen
®
Firmware Manual • Firmware Version V3.00 | Document Revision V1.00 • 2017-Aug-29
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4.1.13 Object 2080
h
: ABN Encoder Settings
Object Description
Index Name Object Type Data Type
2080
h
ABN Encoder Settings Variable Record
Table 74: Object Description (2080
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 ActualAngle no -32768 32767 0 R
2 StepsPerRotation no 0 65535 4000 RW
3 Offset no 0 65535 0 RW
4 Direction no 0 1 0 RW
5 InitMode no 0 2 1 RW
6 InitDelay no 0 10000 1000 [ms] RW
7 InitVelocity no -200000 200000 100 [rpm] RW
Table 75: Entry Description (2080
h
)
4.1.14 Object 2090
h
: Brake Chopper Settings
Object Description
Index Name Object Type Data Type
2090
h
Brake Chopper Settings Variable Record
Table 76: Object Description (2090
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 EnableBrakeChopper no 0 1 0 RW
2 BrakeChopperVoltageLimit no 50 480 260 [100mV] RW
3 BrakeChopperHysteresis no 0 50 5 [100mV] RW
Table 77: Entry Description (2090
h
)
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