User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2.22 Object 2096
h
: Chopper Hysteresis Start
This object provides the hysteresis start setting. Please notice that this value is an offset to the hysteresis
end value.
Object Description
Index Name Object Type Data Type
2096
h
Chopper Hysteresis Start Variable UNSIGNED8
Table 94: Object Description (2096
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 8 3
Table 95: Entry Description (2096
h
)
4.2.23 Object 2097
h
: Chopper Off Time
The off time setting controls the minimum chopper frequency. Under normal circumstances, an off time
within the range of 5 µ s to 20 µ s is used. Off time setting for constant t
OFF
chopper: N
CLK
= 12 + 32 ∗ t
OF F
.
Minimum is 64 clocks.
Setting this parameter to zero completely disables all driver transistors and so lets the motor free-wheel.
Object Description
Index Name Object Type Data Type
2097
h
Chopper Off Time Variable UNSIGNED8
Table 96: Object Description (2097
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0 / 2. . . 15 5
Table 97: Entry Description (2097
h
)
4.2.24 Object 2098
h
: Smart Energy Current Minimum
This object provides the setting of the lower motor current limit for coolStep operation by scaling the CS
value.
Possible values are:
• 0 – 1/2 of maximum motor current setting (section 4.2.4)
• 1 – 1/4 of maximum motor current setting (section 4.2.4)
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