User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 61
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5 Manufacturer Specific Area
The manufacturer segment contains manufacturer specific objects. These objects control special features of
the TRINAMIC motion control devices TMCM-1180, TMCM-1160, and TMCM-1140.
5.1 coolStep™ related Objects (Overview)
The figure below gives an overview of the coolStep related objects. Please have in mind that the figure
shows only one example for a drive. There are parameters which concern the configuration of the current.
Other parameters are for velocity regulation and for time adjustment.
THE FOLLOWING ADJUSTMENTS HAVE TO BE MADE:
- Thresholds for current and velocity have to be identified and set.
- The stallGuard2 feature has to be adjusted and enabled.
- The reduction or increasing of the current in the coolStep area (depending on the load) has to be
configured.
Velocity
Time
2089
h
coolStep area
I7
2004
h
area without coolStep
coolStep™ adjustment points and thresholds
209A
h
20A4
h
20A5
h
I6
I183 I183
Current
Velocity and objects
Current and objects
Time object
2004
h
2003
h
20A6
h
2003
h
/2*
* The lower threshold of the coolStep current can be adjusted up to 2003
h
/4. Refer to parameter object 2098
h
.
The current depends on
the load of the motor.
stallGuard2 objects
COOLSTEP RELATED OBJECTS
Note: smartEnergy is an earlier name for coolStep
Object
Name
Description
2003
h
Absolute max. current (CS /
Current Scale)
The maximum value is 255. This value means 100% of the
maximum current of the module. The current adjustment is
within the range 0… 255 and can be adjusted in 32 steps (0…
255 divided by eight; e.g. step 0 = 0… 7, step 1 = 8… 15 and so
on).
The most important motor setting, since too high values might
cause motor damage!
2004
h
Standby current
The current limit two seconds after the motor has stopped.