User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 65
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5.2.7 Object 200A
h
: Enable Drive Delay Time
This is an additional delay time (in milliseconds) between enabling the power stage and releasing the
brake. It can be used to prevent the brake from being released too early (before the hold current in the
motor has been reached). Please see also object 2002
h
.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
200A
h
Enable drive delay
time
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 65535
0
5.2.8 Object 200B
h
: Encoder Parameters
This object defines the polarity of the encoder null channel. It is only writable in
SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
200B
h
Encoder parameters
ARRAY
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Null channel polarity
rw
no
UNSIGNED8
7
02
h
Direction of rotation
rw
no
0/1
0
03
h
Initialize position*
)
rw
no
0/1
1
*
)
Write 0 to sub-index 03
h
to stop automatic transfer of actual encoder position to all related registers. Per default, the encoder
position is transferred automatically.
5.2.9 Object 200C
h
: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed to
feed current into the brake to release it. The default configuration is made for this case.
Setting both values to 0 disables the automatic brake control. This object is only writable in
SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
200C
h
Brake current feed
ARRAY
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Apply current
rw
no
UNSIGNED8
0
02
h
Release current
rw
no
UNSIGNED8
255