User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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Object Description
Index Name Object Type Data Type
209C
h
Smart Energy Hysteresis Start Variable UNSIGNED8
Table 106: Object Description (209C
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 15 0
Table 107: Entry Description (209C
h
)
4.2.29 Object 209D
h
: Smart Energy Filter Enable
This object is used to set the stallGuard2 filter for more precision of the measurement. It reduces the
measurement frequency to one measurement per four fullsteps if set.
In most cases it is expedient to set the filtered mode when using coolStep. Use the standard mode for
step loss detection.
Possible values are:
• 0 – standard mode
• 1 – filtered mode
Object Description
Index Name Object Type Data Type
209D
h
Smart Energy Filter Enable Variable UNSIGNED8
Table 108: Object Description (209D
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0/1 0
Table 109: Entry Description (209D
h
)
4.2.30 Object 209E
h
: stallGuard2 Threshold
This signed value controls the stallGuard2 threshold level for stall output and sets the optimum measure-
ment range for readout. A lower value gives a higher sensitivity. Zero is the starting value. A higher value
makes stallGuard2 less sensitive and requires more torque to indicate a stall.
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