User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 69
www.trinamic.com
5.2.19 Object 2093
h
: Chopper Mode
Select the chopper mode with this object:
0 – spreadCycle™ chopper
1 – classic const. off time chopper
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2093
h
Chopper mode
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1
0
5.2.20 Object 2094
h
: Chopper Hysteresis Decrement
This object serves for the hysteresis decrement setting. This setting determines the slope of the hysteresis
during on time and during fast decay time.
0 – fast decrement
3 – very slow decrement
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2094
h
Chopper hysteresis decrement
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
0
5.2.21 Object 2095
h
: Chopper Hysteresis End
This object provides the setting of the hysteresis end value after a number of decrements. The decrement
interval time is controlled by object 2094
h
.
Value
Description
-3… -1
negative hysteresis end setting
0
zero hysteresis end setting
1… 12
positive hysteresis end setting
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2095
h
Chopper hysteresis end
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
-3… 12
2