User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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11 Figures Index
1 stallGuard2 Load Measurement as a
Function of Load . . . . . . . . . . . . 8
2 Energy Efficiency Example with coolStep 9
3 Typical motion profile with TRINAMIC’s
sixPoint motion controller . . . . . . . 9
4 NMT State Machine . . . . . . . . . . . 13
5 Communication Architecture . . . . . 14
6 Device Model . . . . . . . . . . . . . . 15
7 coolStep Adjustment Points and
Thresholds . . . . . . . . . . . . . . . . 31
8 Brake Output Timing . . . . . . . . . . 34
9 DS402 Finite State Machine . . . . . . 70
10 Homing Mode Function . . . . . . . . 90
11 Homing Method 1 . . . . . . . . . . . . 91
12 Homing Method 2 . . . . . . . . . . . . 92
13 Homing Method 3 . . . . . . . . . . . . 92
14 Homing Method 5 . . . . . . . . . . . . 93
15 Homing Method 19 . . . . . . . . . . . 93
16 Homing Methods 33 and 34 . . . . . . 94
17 Home Offset . . . . . . . . . . . . . . . 98
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