User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 72
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5.2.28 Object 209C
h
: Smart Energy Hysteresis Start
This object serves to set the lower threshold for the stallGuard2 value (see smart Energy current up step
above).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209C
h
Smart energy hysteresis start
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 15
0
5.2.29 Object 209D
h
: stallGuard2 Filter Enable
This object is used to set the stallGuard2 filter for more precision of the measurement. If set, reduces the
measurement frequency to one measurement per four fullsteps.
In most cases it is expedient to set the filtered mode before using coolStep. Use the standard mode for
step loss detection.
0 – standard mode
1 – filtered mode
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209D
h
stallGuard2™ filter enable
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1
1
5.2.30 Object 209E
h
: stallGuard2 Threshold
This signed value controls the stallGuard2 threshold level for stall output and sets the optimum
measurement range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A
higher value makes stallGuard2 less sensitive and requires more torque to indicate a stall.
Value
Description
0
Indifferent value
1… 63
less sensitivity
-1… -64
higher sensitivity
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209E
h
stallGuard2™ threshold
Variable
SIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
-64… 63
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