User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 63
www.trinamic.com
5.2 Detailed Object Specifications
5.2.1 Object 2000
h
: Microstep Resolution
This object sets the microstep resolution of the drive. A value of 6 means 64 microsteps (2
6
). It is only
writeable in the SWITCHED_ON_DISABLED state, but always readable.
VALUE DESCRIPTION
Value
Description
0
1 step
1
2 microsteps
2
4 microsteps
3
8 microsteps
4
16 microsteps
5
32 microsteps
6
64 microsteps
7
128 microsteps
8
256 microsteps
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2000
h
Microstep resolution
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 8
6
5.2.2 Object 2001
h
: Fullstep Resolution
This object shows the fullstep resolution of the motor. For the PD-1180 the default value is normally 200.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2001
h
Fullstep resolution
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
200
value is module specific
5.2.3 Object 2002
h
: Brake Delay Times
With this object the delay times for applying and releasing an (optional) brake can be defined. Please see
also object 200A
h
for an additional delay between enabling the power stage and releasing the brake. Both
times are given in ms.
ON
ON
OFF
OFF
t
1
t
2
t
3
Operation Enable
Brake
Bridge
200A
h
2002
h
sub index
2
2002
h
sub index
1
Figure 5.1 Brake output timing