User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 62
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COOLSTEP RELATED OBJECTS
Note: smartEnergy is an earlier name for coolStep
Object
Name
Description
2098
h
smartEnergy current minimum
(SEIMIN)
Sets the lower motor current limit for coolStep operation by
scaling the CS (current Scale, see object 2003
h
) value. Minimum
motor current:
0 – 1/2 of CS
1 – 1/4 of CS
2099
h
smartEnergy current down
step
Sets the number of stallGuard2 readings above the upper
threshold necessary for each current decrement of the motor
current. Number of stallGuard2 measurements per decrement:
Scaling: 0… 3: 32, 8, 2, 1
0: slow decrement
3: fast decrement
209B
h
smartEnergy current up step
Sets the current increment step. The current becomes
incremented for each measured stallGuard2 value below the
lower threshold (see smartEnergy hysteresis start).
current increment step size:
Scaling: 0… 3: 1, 2, 4, 8
0: slow increment
3: fast increment / fast reaction to rising load
20A6
h
smartEnergy slow run current
Sets the motor current which is used below the threshold
speed. Please adjust the threshold speed with axis parameter
182.
209A
h
smartEnergy hysteresis
Sets the distance between the lower and the upper threshold for
stallGuard2 reading. Above the upper threshold the motor current
becomes decreased.
20A4
h
Stop on stall
Below this speed the motor will not be stopped. Above this
speed the motor will stop in case stallGuard2 load value
reaches zero.
20A5
h
smartEnergy threshold speed
Above this speed coolStep™ becomes enabled.
2089
h
Standby delay
Standstill period before the current is changed down to standby
current. The standard value is 200 (value equates 2000msec).