User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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coolStep Adjustment Objects
Object Name Description
2003
h
Absolute maximum current The maximum value is 255. This value means 100% of
the maximum current of the module. The current adjust-
ment is within the range 0. . . 255 and can be adjusted in
32 steps (0. . . 255 divided by eight; step 0 = 0. . . 7, step 1
= 8. . . 15 and so on).
The most important motor setting, since too high values
might cause motor damage!
2004
h
Standby current The current limit two seconds after the motor has
stopped.
2098
h
smartEnergy current minimum Sets the lower motor current limit for coolStep operation
by scaling the run current (object 2003
h
) value.
This can be:
0: for 1/2 of the run current
1: for 1/4 of the run current
2099
h
smartEnergy current down step Sets the speed of current decrement when the stall-
Guard reading is above the upper threshold.
0: slow decrement
3: fast decrement
209B
h
smartEnergy current up step Sets the current increment step when the stallGuard
below the lower threshold.
0: slow increment
3: fast increment / fast reaction to rising load
209A
h
smartEnergy hysteresis Sets the distance between the lower and the upper
threshold for stallGuard2 reading. Above the upper
threshold the motor current becomes decreased.
20A4
h
Stop on stall Below this speed the motor will not be stopped. Above
this speed the motor will stop in case stallGuard2 load
value reaches zero.
20A5
h
smartEnergy threshold speed. Above this speed coolStep becomes enabled.
2089
h
Standby delay Standstill period before the current is changed down to
standby current. The standard value is 200 which is 2
seconds.
Table 50: coolStep related Objects
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