User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2.13 Object 2013
h
: Profile D1
This object contains the deceleration value used for decelerating from the maximum positioning velocity
to the velocity V1 (object 2012
h
, see section 4.2.12).
Object Description
Index Name Object Type Data Type
2013
h
Profile D1 Variable UNSIGNED32
Table 76: Object Description (2013
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 16777215 0
Table 77: Entry Description (2013
h
)
4.2.14 Object 2015
h
: Ramp Wait Time
This object defines the waiting time after ramping down to zero velocity before the next movement or
direction inversion can start. Time range is 0 to 2 seconds. This setting avoids excess acceleration e.g. from
positive stop velocity to negative start velocity.
Object Description
Index Name Object Type Data Type
2015
h
Ramp Wait Time Variable UNSIGNED16
Table 78: Object Description (2015
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 65535 [0.000032s] 0
Table 79: Entry Description (2015
h
)
4.2.15 Object 2089
h
: Setting Delay
This object has to be used for setting a standstill period before the current is changed down to standby
current.
Unit: 10msec
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