User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 4
www.trinamic.com
5.2.3 Object 2002
h
: Brake Delay Times ............................................................................................................ 63
5.2.4 Object 2003
h
: Maximum Current .............................................................................................................. 64
5.2.5 Object 2004
h
: Standby Current ................................................................................................................. 64
5.2.6 Object 2005
h
: Limit Switches .................................................................................................................... 64
5.2.7 Object 200A
h
: Enable Drive Delay Time ................................................................................................ 65
5.2.8 Object 200B
h
: Encoder Parameters ......................................................................................................... 65
5.2.9 Object 200C
h
: Brake Current Feed ........................................................................................................... 65
5.2.10 Object 204E
h
: Boost Current ..................................................................................................................... 66
5.2.11 Object 2085
h
: Ramp Divisor ...................................................................................................................... 66
5.2.12 Object 2086
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: Pulse Divisor ....................................................................................................................... 66
5.2.13 Object 2087
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: Maximum Velocity ............................................................................................................. 67
5.2.14 Object 2088
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: Maximum Acceleration .................................................................................................... 67
5.2.15 Object 2089
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: Standby Delay .................................................................................................................... 67
5.2.16 Object 208C
h
: Velocity Dimension Index .............................................................................................. 68
5.2.17 Object 208E
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: Acceleration Dimension Index ...................................................................................... 68
5.2.18 Object 2092
h
: Chopper Blank Time ......................................................................................................... 68
5.2.19 Object 2093
h
: Chopper Mode .................................................................................................................... 69
5.2.20 Object 2094
h
: Chopper Hysteresis Decrement ..................................................................................... 69
5.2.21 Object 2095
h
: Chopper Hysteresis End .................................................................................................. 69
5.2.22 Object 2096
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: Chopper Hysteresis Start ................................................................................................. 70
5.2.23 Object 2097
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: Chopper Off Time .............................................................................................................. 70
5.2.24 Object 2098
h
: Smart Energy Current Minimum ................................................................................... 70
5.2.25 Object 2099
h
: Smart Energy Current down Step ................................................................................ 71
5.2.26 Object 209A
h
: Smart Energy Hysteresis ................................................................................................. 71
5.2.27 Object 209B
h
: Smart Energy Current up Step ...................................................................................... 71
5.2.28 Object 209C
h
: Smart Energy Hysteresis Start ....................................................................................... 72
5.2.29 Object 209D
h
: stallGuard2 Filter Enable ................................................................................................ 72
5.2.30 Object 209E
h
: stallGuard2 Threshold ...................................................................................................... 72
5.2.31 Object 209F
h
: Slope Control High Side.................................................................................................. 73
5.2.32 Object 20A0
h
: Slope Control Low Side .................................................................................................. 73
5.2.33 Object 20A1
h
: Short Protection Disable ................................................................................................ 73
5.2.34 Object 20A2
h
: Short Detection Timer ..................................................................................................... 74
5.2.35 Object 20A3
h
: Vsense .................................................................................................................................. 74
5.2.36 Object 20A4
h
: Stop on Stall ...................................................................................................................... 74
5.2.37 Object 20A5
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: Smart Energy Threshold Speed .................................................................................... 74
5.2.38 Object 20A6
h
: Smart Energy Slow Run Current .................................................................................. 75
5.2.39 Object 2100
h
: Home Offset Display ........................................................................................................ 75
5.2.40 Object 2101
h
: Actual stallGuard2 Load Value ...................................................................................... 75
5.2.41 Object 2102
h
: Driver Error Flags .............................................................................................................. 75
5.2.42 Object 2103
h
: Pulse Divisor Display ....................................................................................................... 76
5.2.43 Object 2104
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: Maximum Velocity Display ............................................................................................. 76
5.2.44 Object 2105
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: Ramp Divisor Display ....................................................................................................... 76
5.2.45 Object 2106
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: Maximum Acceleration Display ..................................................................................... 76
5.2.46 Object 2107
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: Microstep Resolution Display ........................................................................................ 77
5.2.47 Object 2700
h
: TMCL Direct Communication .......................................................................................... 77
5.2.48 Object 2701
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: Manufacturer Specific Mode ........................................................................................... 77
5.2.49 Object 2702
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: Digital Inputs ..................................................................................................................... 78
5.2.50 Object 2703
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: Digital Outputs ................................................................................................................... 78
5.2.51 Object 2704
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: CAN Bit Rate ....................................................................................................................... 78
5.2.52 Object 2705
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: Node ID ................................................................................................................................ 79
5.2.53 Object 2706
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: Store...................................................................................................................................... 79
5.2.54 Object 2707
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: CAN Bit Rate Load ............................................................................................................. 79
5.2.55 Object 2708
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: Node ID Load ..................................................................................................................... 80
5.2.56 Object 270E
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: Device Analogue Inputs .................................................................................................. 80
5.2.1 Object 2710
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: Pull-up Resistors ................................................................................................................ 81
6 Emergency Messages ................................................................................................................................................ 81
7 Life Support Policy ..................................................................................................................................................... 83
8 Revision History .......................................................................................................................................................... 84