User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 77
www.trinamic.com
5.2.46 Object 2107
h
: Microstep Resolution Display
This object shows the microstep resolution (set by object 2000
h
when internal units are selected or
calculated when user units are selected).
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2107
h
Microstep resolution display
Variable
UNSIGNED8
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
0… 8
6
5.2.47 Object 2700
h
: TMCL Direct Communication
After writing the make signature 656b616d
h
to this object the drive switches to TMCL mode. The drive can
then only be controlled via TMCL commands written to the OS command object 1023/01
h
The drive has to be reset (using the DS-301 reset application command) to return to normal CANopen
functionality.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2700
h
Microstep resolution display
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
Make signature
656b616d
h
0
5.2.48 Object 2701
h
: Manufacturer Specific Mode
Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer
specific mode can be turned off again by writing the kill signature to this object.
The manufacturer specific mode has the following features:
- PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed
- The RTR bit in the COB-ID of PDO definitions is ignored.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2701
h
Manufacturer specific mode
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
see textbox
0
read: 0 = manufacturer specific mode is inactive
1 = manufacturer specific mode is active
write: 656b616d
h
= make signature
6c6c696b
h
= kill signature