User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 64
www.trinamic.com
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2002
h
Brake delay times
ARRAY
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Time between applying brake / disabling
power stage
rw
no
0… 65535
0
02
h
Time between releasing brake / switching
the state machine to operational
rw
no
0… 65535
0
5.2.4 Object 2003
h
: Maximum Current
This object defines the current used when the motor is moving. A value of 255 means 100% of the
maximum current of the drive.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2003
h
Maximum current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 255
value is module specific
5.2.5 Object 2004
h
: Standby Current
This object defines the current used when the motor is standing (two seconds after the last move). A value
of 255 means 100% of the maximum current of the drive.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2004
h
Standby current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 255
value is module specific
5.2.6 Object 2005
h
: Limit Switches
This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for the
right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object has to be
set to the value 3 if limit switches are not connected. The object can only be written when the drive is in
the SWITCHED_ON_DISABLED state (but is always readable).
The limit switches can also be inverted using bit 2 and bit 3:
- Bit 2 inverts the left limit switch
- Bit 3 inverts the right limit switch
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2005
h
Limit switches
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 7
0
Bit
Definition
0
Left limit switch deactivated, if set.
1
Right limit switch deactivated, if set.
2
Left limit switch inverted, if set.
3
Right limit switch inverted, if set.
4
Home switch deactivated, if set.
5
Home switch inverted, if set.