User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2.5 Object 2004
h
: Standby Current
This object defines the current used when the motor is standing (two seconds after the last move). A value
of 255 means 100% of the maximum current of the drive.
Object Description
Index Name Object Type Data Type
2004
h
Maximum current Variable UNSIGNED8
Table 59: Object Description (2004
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 8
Table 60: Entry Description (2004
h
)
4.2.6 Object 2005
h
: Limit Switches
This object defines which limit switches are to be used. Bit 0 stands for the left and bit 1 stands for the
right limit switch. If a bit is set, the corresponding limit switch will not be used. So this object has to be set
to the value 3 if limit switches are not connected. The object can only be written when the drive is in the
SWITCHED_ON_DISABLED state (but is always readable).
The limit switches can also be inverted using bit 2 and bit 3:
• Bit 2 inverts the left limit switch
• Bit 3 inverts the right limit switch
The polarity of the home switch can be set using bit 5.
Object Description
Index Name Object Type Data Type
2005
h
Limit switches Variable UNSIGNED32
Table 61: Object Description (2005
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 63 0
Table 62: Entry Description (2005
h
)
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