User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Null channel polarity rw no 0/1 0
2 Direction of rotation rw no 0/1 0
3 Initialize position rw no 0/1 1
Table 67: Entry Description (200B
h
)
4.2.9 Object 200C
h
: Brake Current Feed
This object configures how much current has to be fed into the brake to apply and to release it. 0 means
0%, 255 means 100% of the maximum current (this depends on the module). In most cases it is needed to
feed current into the brake to release it. Setting both values to 0 disables the automatic brake control. This
object is only writable in SWITCHED_ON_DISABLED state.
Object Description
Index Name Object Type Data Type
200C
h
Brake current feed Array UNSIGNED8
Table 68: Object Description (200C
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Apply current rw no 0. . . 255 0
2 Release current rw no 0. . . 255 0
Table 69: Entry Description (200C
h
)
4.2.10 Object 2010
h
: Profile Start Velocity
This object contains the velocity with which a positioning ramp will be started.
Object Description
Index Name Object Type Data Type
2010
h
Profile Start Velocity Variable UNSIGNED32
Table 70: Object Description (2010
h
)
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