User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 71
www.trinamic.com
5.2.25 Object 2099
h
: Smart Energy Current down Step
This object provides the setting of the number of stallGuard2™ readings above the upper threshold
necessary for each current decrement of the motor current.
Number of stallGuard2 measurements per decrement:
Scaling: 0… 3 – 32, 8, 2, 1
0 – slow decrement
3 – fast decrement
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2099
h
Smart energy current down step
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
0
5.2.26 Object 209A
h
: Smart Energy Hysteresis
This object sets the distance between the lower and the upper threshold for stallGuard2 reading. Above
the upper threshold the motor current becomes decreased.
Hysteresis
(smartEnergy hysteresis value + 1) * 32
Upper stallGuard threshold:
(smartEnergy hysteresis start + smartEnergy hysteresis + 1) * 32
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209A
h
Smart energy hysteresis
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 15
0
5.2.27 Object 209B
h
: Smart Energy Current up Step
This object sets the current increment step. The current becomes incremented for each measured
stallGuard2 value below the lower threshold (see smart energy hysteresis start object 209C
h
).
Current increment step size:
Scaling: 0… 3 – 1, 2, 4, 8
0 – slow increment
3 – fast increment / fast reaction to rising load
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209B
h
Smart energy current up step
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
0