User Manual

TMCM-1276 CANopen
®
Firmware Manual • Firmware Version V3.22 | Document Revision V1.00 • 2018-JUN-28
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4.2.35 Object 20B1
h
: PWM Gradient
Velocity dependent gradient for the PWM amplitude (stealthChop). Setting this value to 0 turns off stealth-
Chop.
Object Description
Index Name Object Type Data Type
20B1
h
PWM Gradient Variable UNSIGNED8
Table 120: Object Description (20B1
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 121: Entry Description (20B1
h
)
4.2.36 Object 20B2
h
: PWM Amplitude
Maximum PWM amplitude when switching to stealthChop mode. Do not set too low. Values above 64 are
recommended.
Object Description
Index Name Object Type Data Type
20B2
h
PWM Amplitude Variable UNSIGNED8
Table 122: Object Description (20B2
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 0. . . 255 0
Table 123: Entry Description (20B2
h
)
4.2.37 Object 20B3
h
: dcStep Minimum Speed
Minimum speed for switching to dcStep. The motor driver will not switch to dcStep mode when the actual
velocity is below this value. Setting this object to zero completely switches off dcStep.
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