User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 67
www.trinamic.com
5.2.13 Object 2087
h
: Maximum Velocity
The functionality of this object depends on the unit selection (refer to object 208C
h
/ chapter 0):
- If internal units are selected this object will be set to the fixed value of 2047 and cannot be
changed.
- If user units are selected the maximum velocity (RPM or PPS) that is to be used must be set here.
A lower value in this object leads to a better accuracy of the unit conversion.
This value can only be changed when the drive is in the SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2087
h
Maximum velocity
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
143… 293 (rpm)
resp. 2047 (internal)
2047
5.2.14 Object 2088
h
: Maximum Acceleration
The functionality of this object also depends on the unit selection (refer to object 208E
h
/ chapter 0):
- If internal units are selected this object will be set to the fixed value of 2047 and cannot be
changed.
- If user units are selected the maximum acceleration (RPM/s or PPS/s) that is to be used must be
set here. A lower value in this object leads to a better accuracy of the unit conversion.
This value can only be change when the drive is in the SWITCHED_ON_DISABLED state.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2088
h
Maximum acceleration
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
2183… 4000 (rpm/s)
resp. 2047 (internal)
2047
5.2.15 Object 2089
h
: Standby Delay
This object has to be used for setting a standstill period before the current is changed down to standby
current.
UNIT: 10msec
Index
Name
Object Code
Data Type
2089
h
Standby delay
Variable
INTEGER16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
1… 65535
200