User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 75
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5.2.38 Object 20A6
h
: Smart Energy Slow Run Current
This object can be used for setting the motor current below the threshold speed.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
20A6
h
Smart energy slow run current
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
0… 255 󰇣


󰇤
0
5.2.39 Object 2100
h
: Home Offset Display
The value is given in microsteps.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2100
h
Home offset display
Variable
SIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
Refer to home offset
(object 607C
h
/ 4.3.3.4)
0
5.2.40 Object 2101
h
: Actual stallGuard2 Load Value
This object shows the actual stallGuard2 load value. It is needed for configuring stallGuard2 and for finding
the fitting velocity.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2101
h
Actual stallGuard2™ load value
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
0… 7
0
5.2.41 Object 2102
h
: Driver Error Flags
This object shows the hardware error flags of the motor driver IC.
THERE ARE THE FOLLOWING ERROR BITS:
Bit
Name
Function
Remark
7
OT
Overtemperature
1 = chip of due to overtemperature
6
OTPW
Temperature prewarning
1= prewarning temperature exceeded
5
UV
Driver undervoltage
1 = undervoltage on VS
4
OCHS
Overcurrent high side
3 PWM cycles with overcurrent within 63 PWM cycles
3
OLB
Open load bridge B
No PWM switch off for 14 oscillator cycles
2
OLA
Open load bridge A
No PWM switch off for 14 oscillator cycles
1
OCB
Overcurrent bridge B low side
3 PWM cycles with overcurrent within 63 PWM cycles
0
OCA
Overcurrent bridge A low side
3 PWM cycles with overcurrent within 63 PWM cycles
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2102
h
Driver error flags
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
0… 255
0