User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 70
www.trinamic.com
5.2.22 Object 2096
h
: Chopper Hysteresis Start
This object provides the hysteresis start setting. Please remark, that this value is an offset to the hysteresis
end value.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2096
h
Chopper hysteresis start
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 8
3
5.2.23 Object 2097
h
: Chopper Off Time
The off time setting controls the minimum chopper frequency. An off time within the range of 5µs to 20µs
will fit.
Off time setting for constant t
OFF
chopper: N
CLK
= 12 + 32*t
OFF
(Minimum is 64 clocks)
Setting this parameter to zero completely disables all driver transistors and the motor can free-wheel.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2097
h
Chopper off time
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0 / 2… 15
5
5.2.24 Object 2098
h
: Smart Energy Current Minimum
This object provides the setting of the lower motor current limit for coolStep™ operation by scaling the
CS value.
Minimum motor current:
0 – 1/2 of CS
1 – 1/4 of CS
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2098
h
Smart energy current minimum
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1
1