User Manual

TMCC160 CoE Firmware Manual • Firmware Version V4.01 | Document Revision V1.01 • 2018-Jan-04
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4.1.6 Object 2020
h
: Limits
Object Description
Index Name Object Type Data Type
2020
h
Limits Variable Record
Table 40: Object Description (2020
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 MaxTorque no 0 90000 4000 [mA] (peak) RW
2 MaxVelocity no 0 200000 4000 [rpm] RW
3 MaxAcceleration no 0 100000 2000 [rpm/s] RW
Table 41: Entry Description (2020
h
)
4.1.7 Object 2030
h
: Torque Mode Settings
Object Description
Index Name Object Type Data Type
2030
h
Torque Mode Settings Variable Record
Table 42: Object Description (2030
h
)
Entry Description
Sub- PDO
index Name Mapping Min Max Default Unit Access
1 ActualCurrent no -2147483648 2147483647 0 [mA] (peak) R
2 TargetCurrent no -90000 90000 0 [mA] (peak) R
3 RampTargetCurrent no -90000 90000 0 [mA] (peak) R
4 P_Parameter no 0 65535 0 RW
5 I_Parameter no 0 65535 0 RW
6 PI_Torque_Error no -2147483648 2147483647 0 [mA] R
7 PI_Torque_Error_Sum no -2147483648 2147483647 0 R
8 PI_Flux_Error no -2147483648 2147483647 0 [mA] R
9 PI_Flux_Error_Sum no -2147483648 2147483647 0 R
Table 43: Entry Description (2030
h
)
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