User Manual

TMCM-1240 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.01 • 2018-DEC-03
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Object Description
Index Name Object Type Data Type
2098
h
Smart Energy Current Minimum Variable UNSIGNED8
Table 101: Object Description (2098
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 102: Entry Description (2098
h
)
4.2.25 Object 2099
h
: Smart Energy Current Down Step
This object provides the setting of the number of stallGuard2 readings above the upper threshold necessary
for each current decrement of the motor current.
Possible values are:
• 0 – 32 measurements – slowest decrement
• 1 – 8 measurements
• 2 – 2 measurements
• 3 – 1 measurements – fastest decrement
Object Description
Index Name Object Type Data Type
2099
h
Smart Energy Current Down Step Variable UNSIGNED8
Table 103: Object Description (2099
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 3 0
Table 104: Entry Description (2099
h
)
4.2.26 Object 209A
h
: Smart Energy Hysteresis
This object sets the distance between the lower and the upper threshold for stallGuard2 reading. Above
the upper threshold the motor current becomes decreased.
Hysteresis: (smartEnergy hysteresis value + 1) ∗ 32
Upper stallGuard threshold: (smartEnergy hysteresis start + smartEnergy hysteresis + 1) ∗ 32
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