User Manual
TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4 Manufacturer specific Area
The manufacturer segment contains manufacturer specific objects. These objects control the special
features of the Trinamic Motion Control device TMCM-1276.
4.1 Objects related to coolStep
Figure 6 shows an overview of the coolStep related objects for motor #0. Please bear in mind that the figure
only shows one example for a drive. There are objects which concern the configuration of the current.
Other objects are for velocity regulation and for time adjustment. The coolStep feature is sometimes also
called smartEnergy.
The following adjustments have to be made:
• Thresholds for current and velocity have to be identified and set.
• The stallGuard2 feature has to be adjusted and enabled.
•
The reduction or increasing of the current in the coolStep area (depending on the load) has to be
configured.
Velocity
Time
2089h
coolStep area
2004h
2004h
area without coolStep
coolStep™ adjustment points and thresholds
209Ah
20A4h
20A5h
2003h
Current
Velocity and objects
Current and objects
Time object
2004h
2003h
20A6h
2003h
The current depends on
the load of the motor.
stallGuard2 objects
Figure 6: coolStep Adjustment Points and Thresholds
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