User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2 Detailed Object Specifications
4.2.1 Object 2000
h
: Microstep Resolution
This object sets the microstep resolution of the drive. A value of 8 selects 256 (2
8
) microsteps per full step.
Object Description
Index Name Object Type Data Type
2000
h
Microstep Resolution Variable UNSIGNED8
Table 51: Object Description (2000
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 8 8
Table 52: Entry Description (2000
h
)
4.2.2 Object 2001
h
: Fullstep Resolution
This object sets the fullstep resolution of the motor connected to the drive. Its default value is 200 because
most motors are 1.8° motors.
Object Description
Index Name Object Type Data Type
2001
h
Motor full step resolution Variable UNSIGNED16
Table 53: Object Description (2001
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 65535 200
Table 54: Entry Description (2001
h
)
4.2.3 Object 2002
h
: Brake Delay Times
With this object the delay times for applying and releasing an (optional) brake can be defined. Please see
also object 200Ah for an additional delay between enabling the power stage and releasing the brake. Both
times are given in ms.
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