User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 66
www.trinamic.com
5.2.10 Object 204E
h
: Boost Current
This object is used to set the current used for acceleration and deceleration phases. If set to 0 the current
set with object 2003
h
(maximum current setting) will be used. The value 1 can be chosen for a minimum
boost current setting. A value of 255 means 100% of the maximum possible current of the module (this
depends on the module type).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
204E
h
Boost current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 255
0
5.2.11 Object 2085
h
: Ramp Divisor
Use this object to define the ramp divisor when internal units are selected for velocity and acceleration.
This object can only be written in the SWITCHED_ON_DISABLE state (but is always readable). The exponent
of the scaling factor for the ramp generator- should be de/incremented carefully (in steps of one).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2085
h
Ramp divisor
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
not writable if user
units are selected
no
0… 13
7
5.2.12 Object 2086
h
: Pulse Divisor
Use this object to define the pulse divisor when internal units are to be used for velocity and acceleration.
This object can only be written in the SWITCHED_ON_DISABLED state (but is always readable). The exponent
of the scaling factor for the pulse (step) generator – should be de/incremented carefully (in steps of one).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2086
h
Pulse divisor
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
not writable if user
units are selected
no
0… 13
3