User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 74
www.trinamic.com
5.2.34 Object 20A2
h
: Short Detection Timer
This object provides the timing of the short detection. Use default value!
Value
Timing
0
3.2µs
1
1.6µs
2
1.2µs
3
0.8µs
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A2
h
Short detection timer
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 3
0
5.2.35 Object 20A3
h
: Vsense
This object is used for setting the sense resistor voltage based current scaling. Use the default value and
change only when recommended by TRINAMIC!
0 – Full scale sense resistor voltage is 1/18 VDD
1 – Full scale sense resistor voltage is 1/36 VDD
(This refers to a current setting of 31 and DAC value 255.)
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A3
h
Vsense
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0/1
1
5.2.36 Object 20A4
h
: Stop on Stall
Below this speed the motor will not be stopped. Above this speed the motor will stop in case the
stallGuard2 load value reaches zero.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A4
h
Stop on stall
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 2047
0
5.2.37 Object 20A5
h
: Smart Energy Threshold Speed
Above this speed coolStep becomes enabled.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A5
h
Smart energy threshold speed
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 2147483647 [pps]
0