User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 73
www.trinamic.com
5.2.31 Object 209F
h
: Slope Control High Side
This object determines the slope of the motor driver outputs.
0 – lowest slope
3 – fastest slope
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
209F
h
Slope control high side
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
3
5.2.32 Object 20A0
h
: Slope Control Low Side
This object determines the slope of the motor driver outputs. Set it identical to slope control high side
object 209F
h
.
0 – lowest slope
3 – fastest slope
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A0
h
Slope control low side
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
3
5.2.33 Object 20A1
h
: Short Protection Disable
This object is used to enable or to disable the short to ground protection. Use default value!
0 – Short to GND protection
1 – Short to GND protection disabled
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A1
h
Short protection disable
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1
0